Course Textbook Reference Baxter Commands - mfkenson/MAEG5755-2021-Team-PARK GitHub Wiki

Systematic Approach to Learning Robot Programming with ROS by Wyatt Newman

Try to be familiar with baxter and object grapper. CUHK students should have free access to oreilly learning resource.

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Chapter 14 Arm Control with Baxter Simulator

14.1 RUNNING BAXTER SIMULATOR

roslaunch baxter_gazebo baxter_world.launch
rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools tuck_arms.py -t
rosrun baxter_tools tuck_arms.py -u
rosrun baxter_examples joint_velocity_wobbler.py

14.2 BAXTER JOINTS AND TOPICS

rostopic info /robot/joint_states
rosmsg show sensor_msgs/JointState
rostopic hz /robot/joint_states
rostopic echo /robot/joint_states
rosrun tf tf_echo torso right_hand

14.3 BAXTER’S GRIPPERS

Usage of gripper in C++

Usage of Gripper Service

14.4 HEAD PAN CONTROL

rosrun baxter_head_pan baxter_head_pan

14.5 COMMANDING BAXTER JOINTS

rosmsg show baxter_core_msgs/JointCommand

trjactory action server

rosrun baxter_trajectory_streamer rt_arm_as
rosrun baxter_trajectory_streamer left_arm_as
rosrun baxter_trajectory_streamer pre_pose

14.6 USING ROS JOINT TRAJECTORY CONTROLLER

rosrun baxter_interface joint_trajectory_action_server.py --mode position
rosmsg show control_msgs/FollowJointTrajectoryAction
rosrun baxter_jnt_traj_ctlr_client baxter_jnt_traj_ctlr_client_pre_pose

14.7 JOINT-SPACE RECORD AND PLAYBACK NODES

...skipped

14.8 BAXTER KINEMATICS

https://github.com/rojas70/learning_ros_noetic/tree/main/Part_5/baxter/baxter_fk_ik

14.9 BAXTER CARTESIAN MOVES

• cartesian_planner
• example_baxter_cart_path_planner_main.cpp

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Chapter 15 An Object-Grabber Package

15.5 EXAMPLE OBJECT-GRABBER ACTION CLIENT

• Spawn the table and block

roslaunch exmpl_models add_table_and_block.launch

• Reset state

rosrun example_gazebo_set_state reset_block_state

• Action Server

roslaunch baxter_launch_files baxter_object_grabber_nodes.launch

• Execute the predefined grabbing approach

rosrun object_grabber example_object_grabber_action_client

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Baxter + Kinect (it works now. See FAQ about removing learning_ros_external_pkgs_noetic/gazebo_ros_pkgs)

Chapter 16 PerceptionBased Manipulation

16.1 EXTRINSIC CAMERA CALIBRATION

• Kinect + Baxter + toy block

roslaunch gazebo_ros empty_world.launch
roslaunch baxter_variations baxter_on_pedestal_w_kinect.launch
roslaunch baxter_variations baxter_on_pedestal_w_kinect2.launch
roslaunch baxter_variations kinect_xform.launch
roslaunch coordinator coord_vision_manip.launch
cd ~/5755_ws/src/learning_ros_noetic/Part_5/baxter/baxter_playfile_nodes
rosrun baxter_playfile_nodes baxter_playback can_grasp_pose.jsp

16.2 INTEGRATED PERCEPTION AND MANIPULATION

roslaunch gazebo_ros empty_world.launch
roslaunch baxter_variations baxter_on_pedestal_w_kinect.launch
roslaunch coordinator coord_vision_manip.launch
rosrun coordinator acquire_block_client
rosrun coordinator dropoff_block_client
rosrun coordinator coordinator_action_client_tester