/baxter

Primary LanguagePythonOtherNOASSERTION

SDK Examples

RSDK Wiki: http://github.com/RethinkRobotics/sdk-docs/wiki

Start

  1. Source init.sh to initialize the RSDK Shell environment.

    $ ./init.sh <robot_hostname or ip> [ROS distro]
    • Optionally provide the ROS Master hostname or IP address, and ROS distro.

  2. (Install Dependencies)

    $ sudo apt-get install ros-electric-control ros-electric-joystick-drivers ros-electric-geometry  
$ sudo apt-get install python-argparse

  3. (Build RSDK packages with rosmake)

  • Use $ rosmake baxter --pre-clean to make all baxter packages.
  • Use $ rosmake joint_position to make the joint_position package with dependencies.
  1. Enable Baxter with the tools enable_robot.py script
  • Use $ rosrun tools enable_robot.py -e to enable Baxter (see help with -h).

RSDK Directory Overview

.
|-- init.sh                     # environment initialization script
+-- baxter                      # the baxter rsdk stack
    +-- baxter_description          # .stl meshes for rendering
    +-- baxter_interface            # python interfaces to baxter
    +-- baxter_msgs                 # ROS messages and services
    +-- examples                    # runnable example programs:
    |   +-- gripper_control             # control grippers w/keyboard or joystick
    |   |   +-- src                         # (where python programs live)
    |   +-- head_control                # display to screen; head movement
    |   +-- input_output                # navigator buttons, digital and analog I/O
    |   +-- inverse_kinematics          # IK solver (for Cartesian endpoint poses)
    |   +-- joint_position              # joint position control
    |   +-- joint_trajectory            # joint trajectory interface example
    |   +-- joint_velocity              # joint velocity control
    +-- tools                       # robot operation tools 
    |   +-- src
    |   |   +-- enable_robot.py         # robot enabler / state control utility
    |   |   +-- tare.py                 # simple calibration tool (~weekly)
    |   |   +-- calibrate_arm.py        # more extensive calibration tool (~monthly)
    |   |   +-- update_robot.py         # robot software updater tool
    |   |   +-- smoke_test              # light operational hardware test
    +-- urdf                        # robot description (URDF) file
    +-- utilities                   # generic python helper classes for sdk code

Notes:

  • baxter_interface: For use in python programs. The python classes in here are generally not runnable by themselves.
  • examples: These are all of the level "this is how you can make Baxter do stuff (using baxter_interface)".
  • tools: These are executable tools intended for regular use by the user. You will likely be using enable_robot.py throughout normal operation.