Revision as of 02:06, 7 November 2016

See below for Baxter examples from Rethink Robotics:

Arms

• All Arm Examples

Joint Position

• Joint Position Keyboard Example - The joint position keyboard example demonstrates how to move the arms using joint angles input based on keyboard input.

Joint Velocity

• Wobbler Example - Simple demo that uses velocity control to move the arms in a random magnitude sinusoidal pattern.
• Puppet Example - Reads the measured joint velocities of the input arm and 'puppets' (mimics) those velocity commands on the opposing arm.

Inverse Kinematics

• IK Service Example - Basic example using the Inverse Kinematics solver service.

Joint Trajectory

• Simple Joint trajectory example - Enable the robot joint trajectory interface and send a simple joint trajectory for Baxter to follow.
• Trajectory Playback Example - Enable the robot joint trajectory interface, parse a file created using the joint recorder example, and send the resulting joint trajectory to the joint trajectory action server.

Tools

• Enable Robot Tool - You need to have the robot enabled to control the arm motors. (Or... if you ever need a way to stop the motors via software.)
• Tuck Arms Example - The tuck arms program will allow you to tuck/untuck Baxter's arms to/from 'shipping pose'.
• rviz (ROS) - You can use the Robot Model to visualize the joint positions and tf world axes coordinates. Check out the Joint States Display Types.