hebi_msgs

Custom ROS 2 message, service, and action definitions for HEBI Robotics platforms.

Overview

This package provides ROS 2 interface definitions for HEBI-specific communications, including messages for robotic arm control, mobile base control (including the Tready platform), and Mobile IO device integration.

Version: 1.0.0 License: Apache License 2.0 Maintainers: Chris Bollinger, Hariharan Ravichandran

Package Contents

Messages (7)

Arm Control

• SE3Jog.msg - SE3 space jogging commands

  • Linear displacement: dx, dy, dz (meters)
  • Angular displacement: droll, dpitch, dyaw (radians)
  • Duration: Command execution time
  • Includes header for timestamping

• SE3Trajectory.msg - SE3 trajectory command

  • Array of SE3TrajectoryPoint waypoints
  • Includes header for timestamping

• SE3TrajectoryPoint.msg - Individual SE3 trajectory waypoint

  • Position: x, y, z (meters)
  • Orientation: roll, pitch, yaw (radians)
  • Gripper state: 0.0 (open) to 1.0 (closed)
  • Time from start

Tready/Mobile Base Control

• TreadedBaseState.msg - State information for treaded base platforms

  • State codes:
    • 0: STARTUP
    • 1: HOMING
    • 2: ALIGNING
    • 3: TELEOP
    • 4: EMERGENCY_STOP
    • 5: EXIT
  • Status flags: flipper_trajectory_active, base_trajectory_active, stable_mode, mstop_pressed
  • String message field

• TreadyFlipperVelocityCommand.msg - Individual flipper velocity control

  • front_left, front_right, back_left, back_right (m/s)

• TreadyTorqueModeCommand.msg - Torque mode parameters for balance control

  • torque_max: Maximum torque (up to 25 N-m)
  • torque_angle: Angle between 0 and π/2
  • roll_adjust, pitch_adjust: Adjustment values (0.0 to 1.0)

Mobile IO

• MobileInput.msg - Mobile IO device input
  • button_states: Current state of all buttons
  • axis_states: Current state of all axes
  • button_diffs: Button state changes

Services (3)

• SetPluginEnabled.srv - Enable/disable runtime plugins

  • Request: plugin_name (string), enabled (bool)
  • Response: success (bool), message (string)

• SetLayoutFile.srv - Set UI layout from file

  • Request: layout_file_name (string), layout_package_name (string)
  • Response: success (bool)

• SetLayoutJSON.srv - Set UI layout from JSON string

  • Request: layout_json (string)
  • Response: success (bool)

Actions (3)

• ArmJointMotion.action - Joint space arm motion

  • Goal: Joint trajectory waypoints, optional timing and LED color
  • Result: Success status
  • Feedback: Percent complete (0.0 to 1.0)

• ArmSE3Motion.action - SE3 space arm motion

  • Goal: SE3 trajectory waypoints, optional timing and LED color
  • Result: Success status
  • Feedback: Percent complete (0.0 to 1.0)

• BaseMotion.action - Mobile base motion

  • Goal: Relative position (x, y, theta), optional LED color
  • Result: Success status
  • Feedback: Percent complete (0.0 to 1.0)

Usage

Building

This package is automatically built as part of the HEBI ROS 2 workspace:

cd ~/hebi_ws
colcon build --packages-select hebi_msgs
source install/setup.bash

Importing in C++

#include "hebi_msgs/msg/se3_jog.hpp"
#include "hebi_msgs/srv/set_plugin_enabled.hpp"
#include "hebi_msgs/action/arm_joint_motion.hpp"

// Example usage
auto jog_msg = hebi_msgs::msg::SE3Jog();
jog_msg.dx = 0.1;
jog_msg.dy = 0.0;
jog_msg.dz = 0.05;
jog_msg.duration = 1.0;

Importing in Python

from hebi_msgs.msg import SE3Jog, TreadedBaseState
from hebi_msgs.srv import SetPluginEnabled
from hebi_msgs.action import ArmJointMotion

# Example usage
jog_msg = SE3Jog()
jog_msg.dx = 0.1
jog_msg.dy = 0.0
jog_msg.dz = 0.05
jog_msg.duration = 1.0

Dependencies

• geometry_msgs - Standard geometry messages
• trajectory_msgs - Standard trajectory messages
• action_msgs - Standard action interfaces
• rosidl_default_generators - Message generation (build-time)
• rosidl_default_runtime - Message runtime (execution-time)

Related Packages

• hebi_ros2_examples - Example nodes using these messages
• hebi_description - Robot descriptions
• hebi_bringup - Launch configurations
• hebi_hardware - ROS 2 Control hardware interface

Resources

• HEBI Documentation: https://docs.hebi.us
• Support: support@hebirobotics.com
• Forums: https://forum.hebi.us

Contributing

When adding new message definitions:

1. Create the .msg, .srv, or .action file in the appropriate directory
2. Add the filename to CMakeLists.txt in the corresponding rosidl_generate_interfaces() section
3. Rebuild the package: colcon build --packages-select hebi_msgs
4. Update this README with the new interface documentation

License

This package is released under the Apache License 2.0. See LICENSE file for details.