Roverside HEBI Claw Manipulator Package

Roverside Assistance project HEBI claw manipulator package provides claw manipulator control utilities for the rovers with HEBI actuators.

Setup and Installation

Please refer to the below setup and installation process:

1. Clone this repository to your catkin workspace

2. Skim the HEBI document for basic understanding at http://docs.hebi.us/tools.html#Tools_APIs

3. Download the HEBI python tool from https://pypi.python.org/pypi/hebi-py

4. Extract the installation package and build it using the below commands

   tar -xf hebi-py-*.tar.gz
   cd Hebi-py-*
   python setup.py build
   

   You can also use the help command for more options

   python setup.py --help
   

5. Install the package

   sudo python setup.py install
   

6. Verify the installation by importing the HEBI module in python environment

   python
   >>> import hebi
   

   If no error pops up, then the python tool package installation is done

7. (Optional) To check if the HEBI hardware is actually working, first connect the HEBI actuators and your computer to the same network environment, and the go to the test directory in the cloned repository to run the test script

   roscd roverside_hebi/test
   python hebi_test.py
   

Copyright

Below are the list of authors and copyright information.

• Dicong Qiu ([email protected], http://www.davidqiu.com/)

Copyright (C) 2018, Moon Wreckers. All rights reserved.