hebi_arm_tutorial
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hebi_arm_tutorial [2020/11/20 05:07] – jkreitz | hebi_arm_tutorial [2020/11/20 05:16] (current) – jkreitz | ||
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**Email:** [email protected] and [email protected]\\ | **Email:** [email protected] and [email protected]\\ | ||
**Date:** Last Edited 11/ | **Date:** Last Edited 11/ | ||
- | **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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</ | </ | ||
- | 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.1605877676.txt.gz · Last modified: 2020/11/20 05:07 by jkreitz