9. Finally Running the Scripts for the Demo - mclumd/baxter_pcl GitHub Wiki

→ Launch File

$ roslaunch baxter_pcl baxter_with_asus_midca.launch

functionalities

1. Run's openni2
2. Enables the robot
3. Untuck's its arms
4. Performs TF Transform ( if needed change it here)
5. Runs joint trajectory action server
6. runs the object detection script
7. open's the rviz simulator

→ navigate to midca/examples/_baxter

$ python grabbing.py

functionality: Waits for MIDCA to give commands to the Baxter.

→ navigate to midca/examples

$ python baxter_3d_camera.py

functionality: Runs MIDCA.

→ Run voice command scripts → navigate to midca/examples/_gazebo_baxter

$ python voice_cmds_sr.py

functionality: Runs Voice Commands.