hebi_arm_tutorial
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hebi_arm_tutorial [2020/11/20 05:00] – jkreitz | hebi_arm_tutorial [2020/11/20 05:16] (current) – jkreitz | ||
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**Author:** Leonardo Georgescu and Jason Kreitz\\ | **Author:** Leonardo Georgescu and Jason Kreitz\\ | ||
**Email:** georgl3@unlv.nevada.edu and kreitzj@unlv.nevada.edu\\ | **Email:** georgl3@unlv.nevada.edu and kreitzj@unlv.nevada.edu\\ | ||
- | **Date:** Last Edited | + | **Date:** Last Edited |
- | **Keywords: | + | **Keywords: |
\\ | \\ | ||
\\ | \\ | ||
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(I would recommend not moving more than 0.1 in any direction. The arm moves very fast, and moving it more than 0.1 in any direction will make it jump unsafely)\\ | (I would recommend not moving more than 0.1 in any direction. The arm moves very fast, and moving it more than 0.1 in any direction will make it jump unsafely)\\ | ||
- | If you want to use the offset in an actual client node, just create a publisher to publish to this topic\\ | + | If you want to use the offset in an actual client node, just create a publisher to publish |
This mode would be useful for implementing the use of a game controller...\\ | This mode would be useful for implementing the use of a game controller...\\ | ||
\\ | \\ | ||
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Same as the above, except with trajectory messages in joint space (joint thetas, instead of cartesian coordinates of the end effector).\\ | Same as the above, except with trajectory messages in joint space (joint thetas, instead of cartesian coordinates of the end effector).\\ | ||
This most likely will allow us to control the entire robot, including the end effector rotation (unlike the above), but it requires us to use our own IK solver if we want to use IK. I haven’t yet tested this one.\\ | This most likely will allow us to control the entire robot, including the end effector rotation (unlike the above), but it requires us to use our own IK solver if we want to use IK. I haven’t yet tested this one.\\ | ||
+ | \\ | ||
\\ | \\ | ||
**4. /motion (action, hebi_cpp_api_examples:: | **4. /motion (action, hebi_cpp_api_examples:: | ||
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</ | </ | ||
- | Then run the following line to use the gripper: | + | Then run the following line in one terminal |
<code php> | <code php> | ||
rosrun hebi_cpp_api_examples gripper_node | rosrun hebi_cpp_api_examples gripper_node | ||
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Note: You should be able to use any float between 0 and 1 for the above. Even if the gripper is closed, by turning up the effort value, you should be able to grip stronger... \\ | Note: You should be able to use any float between 0 and 1 for the above. Even if the gripper is closed, by turning up the effort value, you should be able to grip stronger... \\ | ||
\\ | \\ | ||
- | Run the following line to open the gripper: | + | Or run the following line to open the gripper: |
<code php> | <code php> | ||
rostopic pub / | rostopic pub / | ||
</ | </ | ||
Again, we can write a node that publishes to these topics so that we can control the robot in our own client. | Again, we can write a node that publishes to these topics so that we can control the robot in our own client. |
hebi_arm_tutorial.1605877213.txt.gz · Last modified: 2020/11/20 05:00 by jkreitz