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)
• HapticHandleState.msg - Feedback state data from a HEBI haptic arm
  • header: Standard message header
  • pose: Position (x,y,z) and Orientation (x,y,z,w)
  • velocity: Linear and angular velocity for tracking physics
  • axes: Current state of any joystick/analog inputs on the haptic’s handle
  • buttons: Current state of any buttons/digital inputs on the haptic’s handle

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)
• SetGainsFile.srv - Set new gains from file
  • Request: gains_file_uri (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

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