baxter_simulator
Gazebo simulation with emulated interfaces for the Baxter Research Robot
Assume you have installed ROS noetic. To build from source, inside the catkin_ws run the following:
sudo apt-get install ros-noetic-ros-controllers ros-noetic-xacro sudo apt-get install python3-rosinstall python-is-python3 source /opt/ros/noetic/setup.bash rosinstall ./src https://raw.githubusercontent.com/HaoguangYang/baxter_simulator/master/baxter_simulator.rosinstall catkin_make ln -s ./src/baxter/baxter.sh ./baxter.sh
Fix any compilation errors related to dependency.
To run the code, refer to https://sdk.rethinkrobotics.com/wiki/Simulator_Installation from section "Edit baxter.sh". Then follow further examples at https://sdk.rethinkrobotics.com/wiki/Hello_Baxter from section "Echo a ROS Topic".
Code & Tickets
| Documentation | http://sdk.rethinkrobotics.com/wiki |
| Issues | https://github.com/RethinkRobotics/baxter_simulator/issues |
| Contributions | http://sdk.rethinkrobotics.com/wiki/Contributions |
baxter_simulator Repository Overview
. | +-- baxter_simulator/ baxter_simulator metapackage | +-- baxter_gazebo/ Gazebo interface for the Baxter that loads the models into simulation | +-- src/ | +-- launch/ | +-- worlds/ | +-- baxter_sim_controllers/ Controller plugins for Baxter | +-- src/ | +-- include/ | +-- config/ | +-- baxter_sim_examples/ Examples specific to Baxter in Simulation | +-- scripts/ (use baxter_examples for examples that will work both in | +-- include/ simulation AND the real Baxter robot) | +-- launch/ | +-- models/ | +-- baxter_sim_hardware/ This emulates the hardware interfaces of Baxter | +-- src/ | +-- include/ | +-- config/ | +-- launch/ | +-- baxter_sim_io/ QT based navigator plugins for baxter | +-- src/ | +-- include/ | +-- ui/ | +-- baxter_sim_kinematics/ Implementation of IK, FK and gravity compensation for baxter | +-- src/ | +-- include/ | +-- launch/
Other Baxter Repositories
| baxter | https://github.com/RethinkRobotics/baxter |
| baxter_interface | https://github.com/RethinkRobotics/baxter_interface |
| baxter_tools | https://github.com/RethinkRobotics/baxter_tools |
| baxter_examples | https://github.com/RethinkRobotics/baxter_examples |
| baxter_common | https://github.com/RethinkRobotics/baxter_common |