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hebi_arm_tutorial [2020/11/20 05:08] jkreitzhebi_arm_tutorial [2020/11/20 05:16] (current) jkreitz
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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 a Point message to this topic.\\
 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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 </code> </code>
  
-Then run the following line to use the gripper:+Then run the following line in one terminal to activate the gripper's subscribers:
 <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 /gripper_strength std_msgs/Float64 "data: 0.0"  rostopic pub /gripper_strength std_msgs/Float64 "data: 0.0" 
 </code> </code>
 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.txt · Last modified: 2020/11/20 05:16 by jkreitz