<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage = Overview = The HEBI description package `hebi_description` is a collection of XACRO files and meshes that help to create URDF files for standard or custom HEBI robotics kits. For more information about HEBI, see: www.hebi.us For technical documentation about HEBI components, see: docs.hebi.us The source code of this package is located at: https://github.com/HebiRobotics/hebi_description == Using existing standard kits == In the `urdf/kits` folder are several standard HEBI kits, stored as xacro macros so they can be easily edited. To use one of these (for example, a 6-DOF arm with a gripper) in a launch file, you could add the following tag: {{{ }}} === Simple RViz example === Below is a complete example of a launch file that will visualize this system in rviz: {{{ }}} To initialize/update the joint angle, you can publish joint angles on the joint_states channel as follows: {{{ rostopic pub /joint_states sensor_msgs/JointState "header: seq: 0 stamp: {secs: 0, nsecs: 0} frame_id: '' name: ['HEBI/base/X8_9', 'HEBI/elbow/X8_9', 'HEBI/shoulder/X8_16', 'HEBI/wrist1/X5_1', 'HEBI/wrist2/X5_1', 'HEBI/wrist3/X5_1', 'end_effector/input_l_finger'] position: [0, 1, 1, 0, 0, 0, 0] velocity: [0, 0, 0, 0, 0, 0, 0] effort: [0, 0, 0, 0, 0, 0, 0]" }}} == Creating custom URDF == Currently, the best reference for creating a custom URDF is looking at the available kits files as a starting point, as well as reading the README at https://github.com/HebiRobotics/hebi_description