Joseph Coombe

I have been unable to build the free_gait stack (cannot find dependencies). Is free_gait intended for public use? Thanks.

Unable to execute multiple instances of the same FlexBE behavior

3

I made a FlexBE behavior to control an arm. I can run this behavior with no problems using roslaunch like so: ``` ``` --- However, I'd like to start two...

UI: If there are multiple state outcome nets between two states, then their tags will overlap.

2

Suppose you have 2 states A and B, each with two outcomes 'x' and 'y' If you connect state A's outcome 'x' to state B, and state B's outcome 'y'...

Gazebo Plugin: Spawning URDF in Gazebo with large # of HEBI Actuators causes hebiros_node failure or Gazebo Plugin memory error (race condition?)

2

Using HEBI-ROS (v.1.3.0). Encountered some issues simulating a fairly large HEBI Hexapod URDF with 16 HEBI Actuators in Gazebo. I've been able to generate 4 outcomes pretty consistently (on my...

hebiros_node: Segmentation fault (core dumped)

5

On occasion, the hebiros_node is crashing with a **Segmentation fault (core dumped) message**. I'd never encountered this before the latest update (v1.3). I think it happens when: a) ROS node...

ROS Time API and Simulation Time

3

The hebiros_node and hebiros_gazebo_plugin codes should support the following interaction between the ROS Time API and Simulation Time. > In order for a ROS node to use simulation time according...

> /hebiros/node_frequency (int, default: 200) > > - The frequency in Hz that the node runs.' effectively throttles > /hebiros/feedback_frequency (int, default: 100) > > - The number of Hz...

See https://github.com/HebiRobotics/HEBI-ROS/blob/master/hebiros_gazebo_plugin/include/hebiros_gazebo_joint.cpp#L11-L13 ` this->imu_subscriber = n->subscribe(` ` "hebiros_gazebo_plugin/imu/"+name,` ` 100, boost::bind(&HebirosGazeboJoint::SubIMU, this, _1));` ^ this should probably be dependent on feedback frequency.

Noticed that the [PidGainsMsg](http://docs.ros.org/kinetic/api/hebiros/html/msg/PidGainsMsg.html) does not seem with be supported by the [hebiros_gazebo_controller](https://github.com/HebiRobotics/HEBI-ROS/blob/master/hebiros_gazebo_plugin/include/hebiros_gazebo_controller.cpp). In particular, I was planning to use the feed-forward term for better velocity control.

Initial commit of hebiros_wrapper convenience class

3

Small convenience class we've been using to reduce boilerplate code when using the hebiros package.