Overview

Functions provided

Various interfaces are provided to call various HSR functions from Python. Shell functions that provide interactive operations are also available.

ROS Interface

Although this package communicates with the robot via ROS, it is designed so that the user does not need to be aware of them.

All environment variables (ROS_MASTER_URI, ROS_IP, etc.) that affect ROS nodes at runtime have the same effect.

How to use

There are two ways to use it: as an interactive shell or as part of a Python program.

In interactive mode, by typing Ctrl-C (SIGINT), It is possible to cancel a currently executed operation (e.g., autonomous movement or arm movement) in the middle of the operation.

In library mode, typing Ctrl-C will cause shutdown like a normal ROS node.

Interactive shell

You can have the commands executed interactively.

$ ihsrb

>>> HSR-B Interactive Shell 0.2.0
>>>
>>>       ____________  ______  _________       __  _______ ____
>>>      /_  __/ __ \ \/ / __ \/_  __/   |     / / / / ___// __ \
>>>       / / / / / /\  / / / / / / / /| |    / /_/ /\__ \/ /_/ /
>>>      / / / /_/ / / / /_/ / / / / ___ |   / __  /___/ / _, _/
>>>     /_/  \____/ /_/\____/ /_/ /_/  |_|  /_/ /_//____/_/ |_|
>>>
>>> In [1]: whole_body.move_to_go()
>>>
>>> In [2]:
>>> Do you really want to exit ([y]/n)? y
>>> Leaving HSR-B Interactive Shell

Use as a library

Import the hsrb_interface module if you want to use it as a library.

Below is a simple example of moving the arm joint.

import math
import hsrb_interface

with hsrb_interface.Robot() as robot:
    whole_body = robot.get('whole_body')
    goals = {
        'arm_lift_joint': 0.5,
        'arm_flex_joint': math.radians(-90)
    }
    whole_body.move_to_joint_positions(goals)

    whole_body.move_to_joint_positions(
        head_tilt_joint=math.radians(25)
    )

Communication Control

Establish communication with the robot by creating an instance of the hsrb_interface.Robot class. Is the hsrb_interface.Robot.close() method called on all instances or, If the instance is destroyed, communication is disconnected.

It also supports with statements to automate close() operations, as in the example above.

Action based tf use

By setting the use_tf_server keyword argument to True when instantiating the hsrb_interface.Robot class, Action-based tf will be used.

Find out what features are available

By calling the hsrb_interface.Robot.list() method, You can get a list of currently available resource items (mobile carts, cameras, joint control groups, etc.).

Acquisition of items

By calling the hsrb_interface.Robot.get() method with the names given in the list above, An object representing the corresponding item can be obtained. By setting attributes and calling methods on the acquired object, you can use various functions of the robot. You can use various functions of the robot by setting attributes and calling methods on the acquired object.

Note

See the Tutorial and API Reference for more details.

Related Tutorials

See the relevant chapter in the HSR-B manual for tutorials and references.

tutorial

7.Develop HSR

API Reference

8.2.Python API