> For the complete documentation index, see [llms.txt](https://voltbro.gitbook.io/robot-sobaka-mors/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota.md).

# Устройство робота

- [Электроника](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/elektronika.md)
- [Программное обеспечение](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/programmnoe-obespechenie.md)
- [Файлы и папки в системе](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/faily-i-papki-v-sisteme.md)
- [Советы по разработке собственного ПО](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/sovety-po-razrabotke-sobstvennogo-po.md)
- [Примеры](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/primery.md)
- [ROS-пакеты](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety.md)
- [mors\_hardware](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware.md)
- [bosch\_imu\_driver](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/bosch_imu_driver.md)
- [bhi360\_imu\_node](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/bhi360_imu_node.md)
- [ds4\_teleop](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/ds4_teleop.md)
- [power\_bridge](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/power_bridge.md)
- [radiolink\_teleop](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/radiolink_teleop.md)
- [status\_tracker](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_hardware/status_tracker.md)
- [mors\_base](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base.md)
- [champ\_msgs](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/champ_msgs.md)
- [cmd\_commutator](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/cmd_commutator.md)
- [joy\_converter](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/joy_converter.md): Описание пакета joy\_converter
- [locomotion\_controller](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/locomotion_controller.md)
- [log\_writer](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/log_writer.md)
- [mors](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/mors.md)
- [servo\_state\_lcm2ros](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/servo_state_lcm2ros.md)
- [servo\_cmd\_ros2lcm](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_base/servo_cmd_ros2lcm.md)
- [mors\_pc](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_pc.md)
- [robogui](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_pc/robogui.md)
- [mors\_sim](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-pakety/mors_pc/mors_sim.md)
- [ROS-топики](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-topiki.md)
- [ROS-сервисы](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy.md)
- [robot\_mode](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy/robot_mode.md)
- [robot\_action](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy/robot_action.md)
- [stride\_height](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy/stride_height.md)
- [joints\_kp](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy/joints_kp.md)
- [joints\_kd](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/ros-servisy/joints_kd.md)
- [LCM-каналы](https://voltbro.gitbook.io/robot-sobaka-mors/ustroistvo-robota/lcm-kanaly.md)