> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-3.-robotis-op3-ren-xing-ji-qi-ren/5.-jiao-cheng/5.10.-zhi-neng-ma-da-du-xie-jiao-xue/5.10.3.-read-write-demo/5.10.3.3.-op3_read_write.launch.md).

# 5.10.3.3. op3\_read\_write.launch

```
<?xml version="1.0" ?>
<launch>    
  <param name="gazebo"                   value="false"    type="bool"/>
  <param name="gazebo_robot_name"        value="robotis_op3"/>

  <param name="offset_file_path"         value="$(find op3_manager)/config/offset.yaml"/>
  <param name="robot_file_path"          value="$(find op3_manager)/config/OP3.robot"/>
  <param name="init_file_path"           value="$(find op3_manager)/config/dxl_init_OP3.yaml"/>
  <param name="device_name"              value="/dev/ttyUSB0"/>

  <param name="/robotis/direct_control/default_moving_time"     value="0.04"/>
  <param name="/robotis/direct_control/default_moving_angle"    value="90"/>

  <!-- OP3 Manager -->
  <node pkg="op3_manager" type="op3_manager" name="op3_manager" output="screen">
    <param name="angle_unit" value="30" />
  </node>

  <!-- OP3 Localization -->
  <node pkg="op3_localization" type="op3_localization" name="op3_localization" output="screen"/>

  <!-- OP3 Read-Write demo -->
  <node pkg="op3_read_write_demo" type="read_write" name="op3_read_write" output="screen"/>
</launch>
```

* parameters 參數
  * **gazebo**：gazebo 模擬的參數&#x20;
  * **gazebo\_robot\_name**：gazebo模擬的機器人名稱&#x20;
  * **offset\_file\_path**：包含 op3\_manager 使用的每個關節的偏移值的檔案路徑。&#x20;
  * **robot\_file\_path**：包含機器人訊息的檔案路徑&#x20;
  * **init\_file\_path**：包含關節初始參數的檔案路徑&#x20;
  * **device\_name**：與機器人通訊的設備名稱&#x20;
  * **/robitis/direct\_control/default\_moving\_time**：direct\_control\_module 的最小移動時間&#x20;
  * **/robitis/direct\_control/default\_moving\_angle**：每1秒的移動角度，用於direct\_control\_module
* node 節點
  * **op3\_manager**：此節點控制 ROBOTIS-OP3 硬體&#x20;
  * **op3\_localization**：op3\_online\_walking 的簡單定位節點
  * **op3\_read\_write**：本節中描述的 read-write demo
* rqt\_graph

<div align="left"><img src="https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-LmnpwWNQPZK4EBk_C9m%2F-LmnvXksre9lSxrIv8u7%2Fop3_read_write_graph.png?alt=media&amp;token=c849a91f-1685-4be1-9d69-f9c6f1c5ce45" alt=""></div>