baxter_examples

Example SDK usage for the Baxter Research Robot from Rethink Robotics

Code & Tickets

Documentation http://sdk.rethinkrobotics.com/wiki

Issues https://github.com/RethinkRobotics/baxter_examples/issues

Contributions http://sdk.rethinkrobotics.com/wiki/Contributions

baxter_examples Repository Overview

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+-- scripts/                                  example program executables
|   +-- analog_io_rampup.py
|   +-- digital_io_blink.py
|   +-- gripper_action_client.py
|   +-- gripper_cuff_control.py
|   +-- gripper_joystick.py
|   +-- gripper_keyboard.py
|   +-- head_action_client.py
|   +-- head_wobbler.py
|   +-- ik_service_client.py
|   +-- joint_position_file_playback.py
|   +-- joint_position_joystick.py
|   +-- joint_position_keyboard.py
|   +-- joint_position_waypoints.py
|   +-- joint_recorder.py
|   +-- joint_torque_springs.py
|   +-- joint_trajectory_client.py
|   +-- joint_trajectory_file_playback.py
|   +-- joint_velocity_puppet.py
|   +-- joint_velocity_wobbler.py
|   +-- navigator_io.py
|   +-- send_urdf_fragment.py
|   +-- xdisplay_image.py
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+-- launch/                                   example program launch scripts
|   +-- gripper_action_client.launch
|   +-- gripper_joystick.launch
|   +-- joint_position_joystick.launch
|   +-- joint_trajectory_client.launch
|   +-- joint_trajectory_file_playback.launch
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+-- src/                                      baxter_examples api
|   +-- baxter_examples/                      example classes
|   +-- baxter_external_devices/              external device classes
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+-- share/                                    shared example program resources
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+-- cfg/                                      dynamic reconfigure example configs

Other Baxter Repositories

baxter https://github.com/RethinkRobotics/baxter

baxter_interface https://github.com/RethinkRobotics/baxter_interface

baxter_tools https://github.com/RethinkRobotics/baxter_tools

baxter_common https://github.com/RethinkRobotics/baxter_common

Latest Release Information

http://sdk.rethinkrobotics.com/wiki/Release-Changes

1.2.0 (2015-12-21)

• Added a URDF Fragment publishing example to demonstrate URDF additions to a Real Baxter
• The head_pan speed range has been changed to [0, 1.0]. Updated the examples & head action client accordingly
• Updated Digtial IO example to use the new light names for the navigator
• Remapped Joy stick example\'s Logitech controller to be similar to the Xbox controls
• Fixed a bug causing Gripper timing to lag in the joint playback example

1.1.1 (2015-5-15)

• Added a calculation to increase the amount of time allowed to move arm to the initial pose of joint_trajectory_playback
• Fixed an issue in syncing gripper playback with joint_trajectory_playback arm execution
• Fixed a timing issue preventing joint_trajectory_playback from completing execution
• Removed incorrect internal tag for baxterworking.png

1.1.0 (2015-1-2)

• Updates baxter_examples to ROS Indigo
• Updates xdisplay_image to properly publish images with opencv2
• Updates joint_trajectory_client to have a goal tolerance, and supplies current joint angles at time 0.0
• Updates joint_trajectory_file_playback to wait for the joint trajectory action server for 10.0 seconds
• Adds head_action_client example program

1.0.0 (2014-5-1)

• Adds joint_position_waypoints example program
• Updates ik_service_client to validate unpacked results and seed types
• Updates gripper_cuff_control to automatically calibrate on gripper type change
• Updates navigator_io to use navigator wheel_changed signal
• Updates all examples to verify robot software version by default when enabling
• Updates all examples using gripper to verify gripper firmware version
• Updates joint_recorder to record at 100Hz
• Updates joint_velocity_wobbler to run at 500Hz

0.7.0 (2013-11-21)

• Creation of baxter_examples repository from sdk-examples/examples.
• Adds joint torque springs examples.
• Adds gripper cuff control example.
• Adds gripper action client example.
• Package restructure in support of Catkin expected standards.
• Adds launch files for examples using action servers or the joystick.
• Adds gripper position playback to joint trajectory file playback example.
• Removes camera_control example, now located in baxter_tools repository.
• Removes getch usage as means of exiting example programs (latency).
• Fixes joint position file playback looping. Loops now start at correct playback start.
• Fixes head movement during exit of wobbler example.
• Adds timeouts to action client\'s wait_for calls making sure the action servers are running.
• Fixes D-Pad mapping for ps3 joysticks.
• Adds success verification for result of joint trajectory file playback.