COMSE 6731 HUMANOID ROBOTS, SPRING 2016

Columbia University

Installation

Everything you need has already been installed on the CLIC lab machines. If you are trying to install it on your own machine, please follow the instructions here: http://sdk.rethinkrobotics.com/wiki/Simulator_Installation

Getting Started

The following lines will not work unless ROS is properly installed. You can find instructions for how to do this from the ros_tutorial pdf on the class website.

$ cd ~
$ git clone [email protected]:HumanoidRobotics/baxter_example_code.git
$ cd baxter_example_code
$ source /opt/ros/indigo/setup.bash
$ catkin_make
$ source devel/setup.bash

Running the Demo code

First, bring up Gazebo, and Baxter

$  ./baxter.sh sim
$ roslaunch system_launch everything.launch

Then run the individual demos with any of the following:

$ source devel/setup.bash
$ ./baxter.sh sim
Then:
$ rosrun baxter_examples joint_position_keyboard.py
$ rosrun baxter_examples joint_velocity_wobbler.py

Using Moveit!

Start by bringing up Gazebo and Baxter as in the previous step. Then, in a new terminal run the following:

$ source devel/setup.bash
$ ./baxter.sh sim
$ rosrun baxter_tools enable_robot.py -e
$ rosrun baxter_interface joint_trajectory_action_server.py

This will make sure that the robot (simulator) is enabled and can be talked to, and will also spin up a special node for moving the simulated robot.

In a 3rd terminal run this:

$ source devel/setup.bash
$ ./baxter.sh sim
$ roslaunch baxter_moveit_config baxter_grippers.launch

This actually launches moveit.

Note: For every new terminal you open up, you will have to run the following:

$ source devel/setup.bash
$ ./baxter.sh sim