This repository is for CWRU-developed Baxter code.
We got baxter working! Woohoo! Now let's set him up for development.
-
Make sure that Baxter's power, e-stop, and network cable are all plugged in and ready to go.
-
Turn baxter on by pressing the power button on his side.
-
Wait for a while until the LED halo around his head is GREEN.
-
Now you're ready to enter the development environment.
-
On the development workstation, open up a new terminal window
-
Navigate to ~/ros_ws
cd ~/ros_ws -
Initiate the baxter environment
./baxter.sh -
Now you can see all baxter's topics by doing a rostopic list
-
You can check environment variables by doing
env | grep ROS -
Fun example command:
rosrun baxter_examples joint_velocity_wobbler.py
In the sub-package wsn_test_baxter_cmd, see the sample C++ code and the README for how to execute C++ based arm motion control.
start-up notes:
In first window, run:
(optirun) roslaunch cwru_baxter_sim baxter_world.launch
wait for "gravity compensation was turned off"
In second terminal, run:
roslaunch cwru_baxter_sim cwru_baxter_sim.launch
In third terminal,
roscd simple_gui
./service_call_gui
The simple GUI will offer a button to press to enable the robot.
As above,
-
Make sure that Baxter's power, e-stop, and network cable are all plugged in and ready to go.
-
Turn baxter on by pressing the power button on his side.
-
Wait for a while until the LED halo around his head is GREEN.
-
from the development workstation, open a terminal and run:
export ROS_MASTER_URI="http://011503P0031:11311"This will set up Baxter as the ROS "master", and your workstation will use the roscore that is running on Baxter. -
enable the Baxter robot to respond to motion commands with:
rosrun baxter_tools enable_robot.py -e(or launch the simple GUI, as above, and use the "enable" button) -
Start the joint-interpolation action server:
rosrun baxter_traj_streamer traj_interpolator_as
Baxter is now ready to receive goal requests from a client (see, e.g. baxter_traj_streamer/traj_action_client_pre_pose)