<<PackageHeader(hebi_cpp_api_examples)>> <<TOC(4)>>

## AUTOGENERATED DON'T DELETE
## CategoryPackage
= Overview =
This package is a set of examples as well as useful standalone nodes for controlling [[http://hebi.us|HEBI Robots]].

'''Note: this should be used in preference to the older/deprecated HEBI ROS API'''

= Dependencies/Installation =
These examples depend on:

 * The [[http://wiki.ros.org/hebi_cpp_api|HEBI C++ API]] package: contains the library necessary for connecting to HEBI physical hardware.

Some of these examples depend on:

 * The [[http://wiki.ros.org/hebi_description|hebi_description]] package: contains XACRO macros and URDF files to assist in visualizing HEBI robots.
 * The [[https://github.com/HebiRobotics/hebi_moveit_configs|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.

||<:>'''Robot Type''' ||<:48%> '''Relevant Examples''' ||<:48%> '''Examples in Other Packages '''||
||<#000000> ||<#000000> ||<#000000> ||
||<:|3>{{attachment:arm.png||width="120"}} '''Arms''' || [[hebi_cpp_api_examples/ArmNode|Arm Node]] || ||
|| [[hebi_cpp_api_examples/MoveItArmNode|MoveIt Node]] || ||
|| [[hebi_cpp_api_examples/TeachRepeatArmNode|Teach-repeat Arm Node]] || ||
||<#000000> ||<#000000> ||<#000000> ||
||<:>{{attachment:daisy.png||width="120"}} '''Hexapod (Daisy)''' || ||[[https://github.com/HebiRobotics/hebi-ros-daisy|Hexapod Control]] ||
||<#000000> ||<#000000> ||<#000000> ||
||<:>{{attachment:rosie.png||width="120"}} '''Omnibase Mobile Manipulator (Rosie)''' ||[[hebi_cpp_api_examples/RosieTeachRepeat|Rosie teach-repeat]] ||[[https://github.com/HebiRobotics/hebi_rosie_ros_demo/|Beanbag Picking Vision Demo (requires Intel RealSense)]] ||
||<#000000> ||<#000000> ||<#000000> ||
||<:>{{attachment:diffdrive.png||width="120"}} {{attachment:omnibase.png||width="120"}} '''Mobile Bases''' ||[[hebi_cpp_api_examples/MobileBases|Mobile Base Nodes]] || ||
||<#000000> ||<#000000> ||<#000000> ||
||<:>{{attachment:jackal.png||width="120"}} '''Clearpath Jackal Integration''' ||[[hebi_cpp_api_examples/ClearpathJackal|Clearpath Jackal Teleop]] || ||