[[hebiros|hebiros:]] [[hebiros_description]] | '''hebiros_basic_examples''' | [[hebiros_advanced_examples]]
<<PackageHeader(hebiros_basic_examples)>> <<TOC(4)>>
## AUTOGENERATED DON'T DELETE
## CategoryPackage
= Setup =
The following examples are demonstrated using three '''physical''' modules in the following configuration of a 3-dof-arm. For instructions on hardware setup, please see [[http://docs.hebi.us|docs.hebi.us]].
{{attachment:3_dof_arm_photo.jpg||width="744",height="557"}}
<<BR>>
The corresponding modules are named `HEBI|base`, `HEBI|shoulder`, and `HEBI|elbow`. Feel free to modify these examples to your own configuration and module names.
{{attachment:3_dof_arm_diagram.png||width="744",height="525"}}
<<BR>>
= Examples =
To run the examples, first start `roscore`, and then run the following commands in separate terminals.
{{{
rosrun hebiros hebiros_node
}}}
and
{{{
rosrun hebiros_basic_examples <example_node_name>
}}}
<<BR>>
You can also just use the provided launch files for each example.
{{{
roslaunch hebiros_basic_examples <example_launch_name>
}}}
<<BR>>
== Lookup ==
This example demonstrates basic lookup, which identifies modules on the network, creation of groups of modules by name, and collection of information about a group, specifically the group size.
{{{
roslaunch hebiros_basic_examples example_01_lookup.launch
}}}
<<BR>>
You should see output from `hebiros_node` similar to the following.
The paramaters are listed when the node starts. The default values are shown, but these can be set for all groups beforehand using the [[Parameter Server|parameter server]], or changed for individual groups using the corresponding service.
{{{
[ INFO] [1512594271.680071604]: Parameters:
[ INFO] [1512594271.680129931]: /hebiros/node_frequency=200
[ INFO] [1512594271.680148808]: /hebiros/action_frequency=200
[ INFO] [1512594271.680164750]: /hebiros/feedback_frequency=100
[ INFO] [1512594271.680199645]: /hebiros/command_lifetime=100
}}}
`/hebiros/entry_list` is a service which returns a list of all the modules on the network.
{{{
[ INFO] [1512594298.935365975]: Entry list:
[ INFO] [1512594298.935472079]: /X5-4/M2
[ INFO] [1512594298.935492656]: /HEBI/shoulder
[ INFO] [1512594298.935506867]: /HEBI/base
[ INFO] [1512594298.935520585]: /HEBI/elbow
}}}
`/hebiros/add_group_from_names` is a service which creates a group given a group name and module families and names. In this case, `my_group` is the group name and various topics and services will now be available under the namespace `/hebiros/my_group` for the `HEBI|base`, `HEBI|shoulder`, and `HEBI|elbow` modules.
{{{
[ INFO] [1512594298.940891575]: Created group [my_group]:
[ INFO] [1512594298.940933843]: /my_group/HEBI/base
[ INFO] [1512594298.940950774]: /my_group/HEBI/shoulder
[ INFO] [1512594298.940965566]: /my_group/HEBI/elbow
}}}
`/hebiros/my_group/size` is now a service to find the size of `my_group`.
{{{
[ INFO] [1512594298.972802184]: /hebiros/my_group size=3
}}}
<<BR>>
Finally, you should see the following output from `example_01_lookup_node`, which is the user program, indicating that `my_group` has been created and that its size has been found.
{{{
[ INFO] [1512594298.973028882]: my_group has been created and has size 3
}}}
<<BR>>
== Feedback ==
This example demonstrates receiving feedback from a group of modules.
{{{
roslaunch hebiros_basic_examples example_02_feedback.launch
}}}
<<BR>>
You should see output from `example_02_feedback_node` similar to the following.
The program will continuously print out the x, y, and z values of the accelerometer and gyro on each module. If you move the modules, you should be able to see these values change significantly.
{{{
Module 0:
Accelerometer: 3.34425e-61, 2.37152e-322, 5.53354e-322
Gyro: 2.96439e-323, 5.94614e-310, 2.63127e-312
Module 1:
Accelerometer: 2.62049e+180, 2.49082e+180, 1.04137e-42
Gyro: 3.52929e-317, 4.94066e-324, 2.37152e-322
Module 2:
Accelerometer: 0, 0, 8.86994e-311
Gyro: 2.5172e+180, 6.97862e+228, 6.97564e+228
Module 0:
Accelerometer: 3.34425e-61, 2.37152e-322, 5.53354e-322
Gyro: 2.96439e-323, 5.94614e-310, 2.63127e-312
Module 1:
Accelerometer: 2.62049e+180, 2.49082e+180, 1.04137e-42
Gyro: 3.52929e-317, 4.94066e-324, 2.37152e-322
Module 2:
Accelerometer: 0, 0, 8.86994e-311
Gyro: 2.5172e+180, 6.97862e+228, 6.97564e+228
...
}}}
<<BR>>
The group, `my_group` has been constructed in the same way as in the `Lookup` example. The IMU feedback, as well as other types of feedback, such as position, velocity, and effort, can be collected using the `/hebiros/my_group/feedback` topic.
<<BR>>
== Command ==
This example demonstrates sending commands to the modules. The modules will act like a "virtual spring" by using feedback from the position of the modules to execute a torque back to zero position.
{{{
roslaunch hebiros_basic_examples example_03_commands.launch
}}}
<<BR>>
You should see something similar to the following video.
<<Youtube(LyTCVJ5MKKo)>>
<<BR>>
== Trajectory ==
This example demonstrates using a series of waypoints per module and the [[actionlib]] interface in order to move through a smooth trajectory.
{{{
roslaunch hebiros_basic_examples example_04_trajectory.launch
}}}
<<BR>>
You should see output from `hebiros_node` similar to the following, indicating that the trajectory has started and completed.
{{{
[ INFO] [1512758407.969963126]: Group [my_group]: Executing trajectory
[ INFO] [1512758427.970098498]: Group [my_group]: Finished executing trajectory
}}}
You should see output from `example_04_trajectory_node` based on the three types of actionlib callback functions.
The active callback, which is run once when the action starts.
{{{
Goal just went active
}}}
The feedback callback, which is run whenever feedback for the action is received. The feedback is the percent of the trajectory that has been completed.
{{{
Trajectory percent completion: 0
Trajectory percent completion: 0.024991
Trajectory percent completion: 0.0500643
Trajectory percent completion: 0.074991
Trajectory percent completion: 0.100065
...
Trajectory percent completion: 99.875
Trajectory percent completion: 99.9
Trajectory percent completion: 99.9251
Trajectory percent completion: 99.9501
Trajectory percent completion: 99.975
}}}
The done callback, which is run once when the action completes. The output includes the final state of the action, and the final result, which is the joint state including each module at the end of the trajectory.
{{{
Final state: SUCCEEDED
HEBI/base:
Position: -0.0187694
Velocity: -0.00335851
Effort: 0.615099
HEBI/shoulder:
Position: -0.0855408
Velocity: 0.0277521
Effort: 2.06523
HEBI/elbow:
Position: 0.0091102
Velocity: 0.0190973
Effort: -0.310117
}}}
<<BR>>
Finally, you should see the trajectory executed as in the following video.
<<Youtube(E9KLHUxuaH8)>>
<<BR>>