Baxter
- This page describes a basic usage of a Baxter robot with a Robotiq gripper.
Installing SDK †
Requirements †
Baxter SDK †
Binary package is available:
- ros-ROS_DISTR-baxter-sdk (ROS_DISTR: groovy, hydro, indigo, etc.)
KDL for Baxter †
KDL solves kinematics and dynamics calculations.
Binary packages are available (you can use apt-get):
- ros-ROS_DISTR-python-orocos-kdl (ROS_DISTR: groovy, hydro, indigo, etc.)
- ros-ROS_DISTR-kdl-conversions
- ros-ROS_DISTR-orocos-kdl
Build from source:
- https://github.com/akihikoy/baxter_pykdl.git
- Build with Catkin.
- Checkout the dev branch (not master); e.g. git checkout dev
- Note: Rethink's baxter_pykdl doesn't consider joint limits. Use above package.
Robotiq gripper SDK †
Build from source:
- https://github.com/evenator/swri-ros-pkg
- Build with rosbuild (use rosmake command).
MoveIt! †
MoveIt! is an integrated planning tool.
Binary package is available (you can use apt-get):
- ros-ROS_DISTR-moveit-full (ROS_DISTR: groovy, hydro, indigo, etc.)
- ros-ROS_DISTR-moveit-resources
Build from source:
- https://github.com/ros-planning/moveit_robots.git
- Build with Catkin.
Environment setup †
In your bashrc for ROS, add following stuff:
function ip_addr()
{
#Get IP address of an interface
interface=eth0
if [[ $# -gt 0 ]]; then
interface=$1
fi
LANG=C ifconfig $interface | grep 'inet addr:' | sed -e 's/^.*inet addr://' -e 's/ .*//'
}
alias pr2echo='echo "ROS_MASTER_URI=$ROS_MASTER_URI" ; echo "ROS_IP=$ROS_IP" ; echo "ROBOT=$ROBOT" ; echo "ROS_ROBOT=$ROS_ROBOT"'
alias bxmaster='export ROS_MASTER_URI=http://bx1:11311 ; export ROBOT=robot ; export ROS_ROBOT=Baxter ; export ROS_IP=`ip_addr eth0` ; pr2echo '
alias bxsim='export ROS_MASTER_URI=http://localhost:11311 ; export ROBOT=sim ; export ROS_ROBOT=Baxter_SIM ; export ROS_IP=127.0.0.1 ; pr2echo '
alias rviz="rosrun rviz rviz"
alias bxrun='rosrun baxter_tools enable_robot.py'
Also, add the following to /etc/hosts:
#Baxter network: 192.168.0.10 bx1 192.168.0.12 rq1 192.168.0.14 sentis_m100