SOLAR_GP_ROS

Getting Started

Dependencies

This package depends on the below packages in order to compile and operate:

teleop_utils (https://github.com/bpwilcox/teleop_utils)
baxter_interface (https://github.com/RethinkRobotics/baxter_interface)
- May require additional baxter dependencies

Though the core SOLAR_GP algorithm does not depend on Baxter, currently the data buffer uses the EndpointState custom msg from the baxter_core_msgs package (a dependency of baxter_interface). This is may change in the future.

Running on Baxter

This package is currently based around the Rethink Robotics Baxter robot implementation of the SOLAR_GP algorithm. In the Baxter launch and Baxter scripts directories are Baxter-specific implementations of core classes.

Run a live teleoperation experiments using an Xbox Controller:

launch Baxter simulator in Gazebo or real Baxter robot (see )
set teleop_device in run_baxter.launch to "xbox"
run roslaunch SOLAR_GP_ROS run_baxter.launch

Run a live trajectory playback of rosbag:

launch Baxter simulator in Gazebo or real Baxter robot (see )
set teleop_device in run_baxter.launch to "bag"
set bagfile to path of trajectory rosbag
run roslaunch SOLAR_GP_ROS run_baxter.launch

Using your own robot

In order to the SOLAR_GP algorithm with your own robot, you need to implement derived classes of the following base classes:

In these derived classes, you can set up robot-specific variables and API, and implement robot-specific overrides of the base class functions in order to perform training, prediction, and control.

After creating the derived classes, you can create a main to initialize and run the derived classes. See the below Baxter implementations for examples: