Connecting and testing the Development Workstation - RethinkRobotics/sdk-docs GitHub Wiki

Prerequisites

  • The Development Workstation has been set up with Ubuntu 12.04 LTS and ROS Groovy - instructions here.
  • The RSDK software has been installed on to your Development Workstation - instructions here.
  • The Baxter Research Robot has been set up in its workspace and any purchased accessories have been installed - instructions here.
  • Additional Hardware Required:
    • 1 Ethernet switch
    • 2 Ethernet cables

Outcome of this step

  • User can ping Baxter from a connected Development Workstation - validating network connectivity

  • User can execute this command from a connected Development Workstation - validating that ROS messages work across the network connection

    $ rostopic echo /rosout

  • You have setup your Baxter, your Development Workstation, and connected your whole system. You are now ready to run the robot using a sample program.

Steps for Connecting to Baxter

  • Physically connect Baxter to the Development Workstation

    • Connect power to the ethernet switch

    • Connect Baxter to a port on the ethernet switch with an ethernet cable

    • Connect the Development Machine to the ethernet switch with a second ethernet cable

    Additional network setup details can be found here

  • Set up the ROS environment

    $ source /opt/ros/groovy/setup.sh

  • Find the IP address of the robot. See the Networking page for details.
    Possible Options:

  • (Optional) Add the IP address of the robot (refered to as the <Baxter IP Address> on this page) to the /etc/hosts file on the Development Workstation.

  • Ping the robot from the development workstation to check for connectivity.

    $ ping <Baxter IP Address>

  • Set the ROS_MASTER_URI environment variable

    $ export ROS_MASTER_URI=http://<Baxter IP Address>:11311

  • List rostopics using the rostopic command

    $ rostopic list

  • Show output on /rosout topic

    $ rostopic echo /rosout

Next Steps

Running Example Research SDK Programs

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