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Baxter

Akihiko Yamaguchi
Abstract 概要
This page describes a basic usage of a Baxter robot with a Robotiq gripper.

Installing SDK †

↑

Requirements †

  • ROS
↑

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



Last-modified:2018-04-18 (Wed) 05:00:52 (2619d)
Link: Top(2610d) ROS(2619d) writer/Akihiko_Yamaguchi(2619d)
Site admin: Akihiko Yamaguchi.
Written by: Akihiko Yamaguchi.
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