Difference between revisions of ""Hello World" with Baxter"
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| − | This tutorial assumes that you have already setup the software environment for Baxter. This can be done by following the tutorial [http://wiki.lofarolabs.com/index.php/Setting_up_software_environment_for_controlling_Baxter here.] | + | This tutorial assumes that the robot is powered on and that you have already setup the software environment for Baxter. This can be done by following the tutorial [http://wiki.lofarolabs.com/index.php/Setting_up_software_environment_for_controlling_Baxter here.] |
| − | = | + | =Connect to robot and run the program= |
| − | ; | + | ;Configuring ROS environment and connect to robot |
| − | : | + | :After setting up the software dependencies for ROS and Baxter manually configuring the environment and connecting to Baxter will be necessary. Rethink Robotics explains this well at steps 1 and 2 [http://sdk.rethinkrobotics.com/wiki/Hello_Baxter here.] |
| + | :If you have setup LAN access to the robot ensure the baxter.sh file under the ros_ws directory indicates a local IP. | ||
| − | ; | + | ;Enable robot and send commands |
| − | : | + | :After connection to the robot has been verified, navigate to the ros_ws directory and run the following code at terminal to enter the ROS environment: |
| + | <span style="color:#0000FF"> ./baxter.sh </span> | ||
| + | :Next enable the robot. After running the following command you should hear Baxters joints turn on (by making a constant buzzing noise): | ||
| + | <span style="color:#0000FF"> rosrun baxter_tools enable_robot.py -e</span> | ||
| + | :Finally Baxter will wave its arms if you run the code: | ||
| + | <span style="color:#0000FF"> rosrun baxter_examples joint_velocity_wobbler.py </span> | ||
| − | + | ==Other Programs== | |
| − | :For | + | :For other examples see here [http://sdk.rethinkrobotics.com/wiki/Example_Programs here.] |
| − | + | :GMU Projects: [http://wiki.lofarolabs.com/index.php?title=ARCHR_(voodoo-style_controller)&action=edit&redlink=1 ARCHR Project] | |
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Latest revision as of 02:07, 2 December 2014
This tutorial assumes that the robot is powered on and that you have already setup the software environment for Baxter. This can be done by following the tutorial here.
Connect to robot and run the program
- Configuring ROS environment and connect to robot
- After setting up the software dependencies for ROS and Baxter manually configuring the environment and connecting to Baxter will be necessary. Rethink Robotics explains this well at steps 1 and 2 here.
- If you have setup LAN access to the robot ensure the baxter.sh file under the ros_ws directory indicates a local IP.
- Enable robot and send commands
- After connection to the robot has been verified, navigate to the ros_ws directory and run the following code at terminal to enter the ROS environment:
./baxter.sh
- Next enable the robot. After running the following command you should hear Baxters joints turn on (by making a constant buzzing noise):
rosrun baxter_tools enable_robot.py -e
- Finally Baxter will wave its arms if you run the code:
rosrun baxter_examples joint_velocity_wobbler.py
Other Programs
- For other examples see here here.
- GMU Projects: ARCHR Project
