A C++ version of the Baxter SDK that works along side the Rethink SDK. Is inteded to be used with a ros_control implementation of the Baxter controllers that is run on the robot (via SSH).
Contains pick and place MoveIt! code for Baxter, as well as some other tools.
On going development continues in the
development branch and contributors are strongly encouraged to send pull requests and use this code. Seriously, please help me improve this code. Attempts are made to keep the
indigo-devel branch stable, but at the end of the day I am an open source graduate student contributor ;-)
- Actuated fingers using a custom robot state publisher and URDF
- Baxter ros_control integration on Baxter's internal PC using baxter_ssh
- Baxter pick and place with MoveIt!
- Generate grasps for blocks on a table
- Execute a pick and place routine
- Works on hardware and in an Rviz visualization
- Other tools for testing trajectories
- Integrated Asus Xtion Pro depth sensor (Kinect sensor)
- Displays in MoveIt!
- A Baxter with dual parallel electric grippers with SDK v1.0.0 installed
- (Optional) Asus Xtion Pro Camera
- ROS Indigo on Ubuntu 14.04
Install wstool package
sudo apt-get install python-wstool
Create a catkin workspace if you don't already have one (we recommend a separate one for Baxter)
mkdir -p ~/ros/ws_baxter/src cd ~/ros/ws_baxter/src wstool init .
Install Rethink's Baxter SDK as documented below, if you have not already. Note: These instructions can also be found at Installing the Research SDK
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
Install these baxter_cpp packages: Note: replaces Rethink's baxter_common with a version that has parallel electric end effectors modeled
wstool merge --merge-replace -y https://raw.github.com/davetcoleman/baxter_cpp/indigo-devel/baxter_cpp/baxter.rosinstall
Install ros_control and other low-level components internall on Baxter using the new SSH access:
Follow instructions on README of baxter_ssh repo
Download the Baxter packages:
Setup ROS if you haven't already (you can probably skip this):
sudo apt-get update sudo apt-get dist-upgrade source /opt/ros/indigo/setup.bash rosdep update
Install dependencies and build
cd .. rosdep install --from-paths . --ignore-src --rosdistro indigo -y catkin_make
Add Baxter setup.bash to your .bashrc (recommended)
echo 'source ~/ros/ws_baxter/devel/setup.bash' >> ~/.bashrc
Customize for your robot
Every Baxter is factory calibrated for the mouting points of the arms because they are welded on. Therefore, you might want to customize the
baxter_description/urdf/baxter.urdf file to your robot's custom values. To do so:
- Start up your Baxter without launching any ROS nodes on your dev machine
- While connected to Baxter, run the command:
rosparam get -p /robot_description | tail -n +2 > my.baxter.urdf
my.baxter.urdffind the lines that say:
<joint name="left_torso_arm_mount" type="fixed">
<joint name="right_torso_arm_mount" type="fixed">
- Copy the following
<origin>line to the corresponding location in
Ensure you have the correct ROS_MASTER_URI exported, this depends on your robot serial number. CU Boulder's is:
You might also need to set the ROS hostname environment variable if you have not already done so and you have communication issues:
export ROS_HOSTNAME=188.8.131.52 # REPLACE WITH YOUR COMPUTER'S IP ADDRESS
Bringup ros_control controllers on Baxter
Follow instructions on baxter_ssh
This only shows a virtual Baxter in Rviz without any physics simulator. Instead it uses a ros_control hardware interface that simply loops back to itself. Good for testing MoveIt!.
Ensure you have the correct ROS_MASTER_URI exported:
roslaunch baxter_control baxter_visualization.launch
Note: you will not see anything when you launch this, only the
/robot/joint_statestopic starts being published. Proceed to the MoveIt! section, below.
This is still in beta. First install the baxter_gazebo stuff. I haven't documented this yet.
roslaunch baxter_gazebo baxter_world.launch
Works with simulation, hardware or visualization:
Start MoveIt!'s move_group Server:
roslaunch baxter_moveit_config baxter_moveit.launch
Start Rviz with MoveIt! configured:
roslaunch baxter_moveit_config moveit_rviz.launch
Block pick and place demo
Picks small blocks located on a table in front of Baxter and places them to Baxter's left. Assumes perfect perception (doesn't have perception) as defined in custom_environment.h.
roslaunch baxter_pick_place block_pick_place.launch
Hardware Control Modes
Follow instructions on README of baxter_ssh repo
Send Baxter to random poses using motion planning and obstacle avoidance of a hard-coded planning scene
roslaunch baxter_pick_place random_planning.launch
Duplicated from README of baxter_ssh
End Effector Cuff
- Rectangular button: close end effector
- Circular button: open end effector
Back of Robot Shoulders
- Left shoulder button: enable Baxter
- Right shoulder button: disable Baxter
BSD (New BSD License)
Please help - see Contribute page.