- Baxter uses ROS indigo. Installation:
- According to ROS: http://wiki.ros.org/indigo/Installation/Ubuntu
- According to Alessandro: http://alecive.github.io/blog/2015/11/12/ROS-naive-installation, http://wiki.ros.org/jade/Installation/Source
- Baxter:
- Setup (see the following for the setup)
- Hello Baxter
- Baxter API
- Alessandro's ROS tips and tricks
- The ROS core is running on the robot, you just have to connect to it.
- We use a separate ethernet card to connect the computer to the robot. That way the robot is not connected to the general university network.
- Use
link-local
configuration for the computer-robot interface. In other words the computer and the robot each find a free IP address (wikipedia/Link-local_address. - Baxter is automatically discovered through zeroconf as
baxter.local
. (On ubuntu see: HowToZeroconf). - Typically you only have to set
baxter_hostname="baxter.local"
andyour_ip="$(/sbin/ip -o -4 addr list eth0 | awk '{print $4}' | cut -d/ -f1)"
in thebaxter.sh
file. Replaceeth0
by the interface connected to Baxter.
- Use
- (Un/)Tuck:
rosrun baxter_tools tuck_arms.py -t # and -u
- Enable / Disable:
rosrun baxter_tools enable_robot.py -e # and -d
- Cameras: through topics
/cameras/head_camera/image /cameras/right_hand_camera/image /cameras/left_hand_camera/image
- Screen: just push images to
/robot/xdisplay
or executerosrun baxter_examples xdisplay_image.py --file=image.png`
- Please edit this file.
- Please get registered to scazlab.slack.com/#baxter.
I cannot edit it. I won!
Let's go full stack 👍