ridgeback-baxter

This repo contains all working content for the Baxter-on-Ridgeback project.

Connecting to Ridgeback

• Connect to RIDGEBACK (through Ethernet cable)

  • $ ssh administrator@cpr-ridgeback
  • Password : Clearpath
  • In the host computer
    • $ cd ~/ridgeback-cartographer_ws
    • $ source remote-ridgeback.sh
    • $ roslaunch ridgeback_viz view_robot.launch (test to check if communication is OK, especially ROS_MASTER_URI configuration)
    • To check robot state : $ rosrun rqt_runtime_monitor rqt_runtime_monitor

• Connect to RIDGEBACK (through WIFI)

  • SSID : Ridgeback_yumi / Password : yumimobile
  • Router IP Address : 192.168.125.5
  • Robot IP should be 192.168.125.2

ridgeback-cartographer_ws

• Working simulator + able to communicate with the real platform, for 2D-SLAM Mapping

• BEFORE CATKIN BUILD, LAUNCH THE ridgeback_cartographer_install.sh SCRIPT IN ridgeback_cartographer_navigation PACKAGE !

• Succeed ! Launch everything from the remote PC, . remote-ridgeback.sh before all to be able to connect de the RIDGEBACK ROS_MASTER

  $ rosbag record -O ridgeback-map-test1 /rear/scan /front/scan /tf
  $ rosrun cartographer_ros cartographer_rosbag_validate -bag_filename ridgeback-map-test1.bag
  ------------
  $ roslaunch ridgeback_viz view_robot.launch config:=cartographer
  $ roslaunch cartographer_ros cartographer_demo.launch bag_filename:=/home/$USER/ridgeback-cartographer_ws/ridgeback-map-test1.bag

• Demo cartographer with Gazebo simulation

  $ cd ~/baxter-ridgeback-kinetic_ws
  $ source devel/setup.bash
  $ roslaunch ridgeback_gazebo ridgeback_RPL-lab.launch config:=dual_hokuyo_lasers
  $ roslaunch ridgeback_viz view_robot.launch
  $ roslaunch ridgeback_cartographer_navigation cartographer_demo.launch

Baxter-Ridgeback_ws

• Simulator for Baxter-on-Ridgeback --> NOT WORKING PROPERLY RIGHT NOW...

• Gazebo simulation working with Ridgeback + Baxter mounting !

  $ cd ~/baxter-ridgeback-kinetic_ws
  $ ./baxter.sh sim
  $ roslaunch baxter-ridgeback_gazebo baxter-ridgeback_world.launch
  ------------
  $ rosrun baxter_tools enable_robot.py -e
  $ rosrun baxter_examples joint_velocity_wobbler.py
  ------------
  $ roslaunch ridgeback_viz view_robot.launch