Overview

This package is a set of examples as well as useful standalone nodes for controlling HEBI Robots.

Note: this should be used in preference to the older/deprecated HEBI ROS API

Dependencies/Installation

These examples depend on:

• The HEBI C++ API package: contains the library necessary for connecting to HEBI physical hardware.

Some of these examples depend on:

• The hebi_description package: contains XACRO macros and URDF files to assist in visualizing HEBI robots.

• The hebi_moveit_configs package: contains MoveIt configs for several standard HEBI kits.

To install all dependencies in a new catkin workspace, run the following steps (replace <ros-distro> with kinetic or melodic`):

sudo apt-get install ros-<ros-distro>-hebi-cpp-api

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/HebiRobotics/hebi_moveit_configs.git
git clone https://github.com/HebiRobotics/hebi_description.git
git clone https://github.com/HebiRobotics/hebi_cpp_api_ros_examples.git hebi_cpp_api_examples
cd ..
catkin_make

Getting Started

To launch an example, run roslaunch hebi_cpp_api_examples <example name>.

(if you haven't yet, you will need to run source devel/setup.sh first)

For more detail about the available examples and parameter, select the system you wish to work with.