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


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:

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 ..

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.

Robot Type

Relevant Examples

Examples in Other Packages

arm.png Arms

Arm Node

MoveIt Node

Teach-repeat Arm Node

daisy.png Hexapod (Daisy)

Hexapod Control

rosie.png Omnibase Mobile Manipulator (Rosie)

Rosie teach-repeat

Beanbag Picking Vision Demo (requires Intel RealSense)

diffdrive.png omnibase.png Mobile Bases

Mobile Base Nodes

jackal.png Clearpath Jackal Integration

Clearpath Jackal Teleop

Wiki: hebi_cpp_api_examples (last edited 2019-09-26 21:07:46 by MatthewTesch)