Wobbler Example

Joint Velocity Control

Summary

Use wobbler as an example of controlling Baxter using joint velocity control.

Overview

There are two modes of control for Baxter's arms, joint position and joint velocity control. This example 'wobbles' both arms by driving each joint's velocity according to a sinusoid around a neutral position. The example shows how to set velocity control mode and read joint states at 1000Hz

Usage

Start wobbler from an RSDK terminal session using:

$ rosrun baxter_examples joint_velocity_wobbler.py

Documentation

Troubleshooting

For common issues specific to using wobbler with Baxter, check out the Troubleshooting page.