Real robot in the lab

First we have to edit the well known baxter.sh. Update your hostname of Baxter and your IP address.

timeout issue

There was a timeout problem previously and deleting the wait_for code block in baxter_interface package is obviously not an appropriate workaround. (Still take 30-90 sec to establish a connection)

Here is a better way:

sudo nano /etc/hosts

Add one entry

192.168.11.103 011508P0007.local

Ctrl + o to save Ctrl + x to exit

No need reboot or restart anything. Effective immediately.

Where 011508P0007.local is the hostname of the Baxter and 192.168.11.103 is the IP address of Baxter.

(ping 011508P0007 gives the IP address)

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Gazebo Simulation

Note that orignal world path:

learning_ros_external_pkgs_noetic/baxter_simulator/baxter_gazebo/worlds/baxter.world learning_ros_external_pkgs_noetic/baxter_simulator/baxter_gazebo/launch/baxter_world.launch

PARK Gazebo

Terminal 1

sw && roslaunch gazebo_ros empty_world.launch

Terminal 2

sw && roslaunch park_gazebo baxter_on_pedestal_w_realsense.launch

Terminal 3

baxter_home && sw && rviz -d src/team-park/park_simulation/park_gazebo/park.rviz

get ready...?

rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools tuck_arms.py -u

prepare the table and toy blocks

roslaunch exmpl_models add_table_and_block.launch
roslaunch exmpl_models add_table.launch #optional
roslaunch park_gazebo add_toy_blocks.launch  #optional

moveit

roslaunch baxter_moveit_tutorial moveit_init.launch

Camera topic

/d435/color/image_raw
/d435/depth/image_raw

saving an image from the depth topic

mkdir -p ~/Desktop/depth_images
cd ~/Desktop/depth_images
rosrun image_view image_saver image:=/d435/depth/image_raw _encoding:=16UC1 _filename_format:="image%04i.png"