ros_hebi_robot_training

Code for Training using a robot based on HEBI motors

Environment setup

First we need to make sure that we have ROS1 installed, and a catkin workspace. If you don't have ros, you can install it following these instructions. If you don't have a catkin workspace, you can create one following these instructions. Don't forget to source your workspace's devel/setup.bash

Installing dependencies

It's necessary to install hebi-py, which is a package to use the HEBI motor's API. Assuming Python and pip are installed in your system, installing it can be done using:

pip install hebi-py

Additionally, inside your catkin workspace's src folder, you'll need to clone the following packages:

cd ~/<workspace_name>/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
git clone https://github.com/HebiRobotics/hebi_cpp_api_ros.git

Cloning the package

To do this, you'll have to clone the package we'll be using for this training:

cd ~/<workspace_name>/src
git clone https://github.com/smartrobotsdesignlab/ros_hebi_robot_training.git

And compile your workspace

cd ~/<workspace_name>/
catkin_make

Then you'll be able to run the Robot URDF with sliders controllers using

roslaunch ros_hebi_robot_training arm_training_slider.launch

or the basic code we'll be editing, which is located in ros_hebi_robot_training/src/scripts using

roslaunch ros_hebi_robot_training arm_training_controller.launch