baxter_rpc_server (RPC (Remote Procedure Call)) ROS package

Install

Make sure [baxter_rpc_msgs]{.title-ref} and [tork_rpc_util]{.title-ref} packages are under you catkin workspace and build them by something like:

sudo apt-get install python-catkin-tools python-rosdep python-wstool
mkdir -p ~/cws_rpc/src && cd ~/cws_rpc
wstool init src
wstool merge -t src https://raw.githubusercontent.com/tork-a/baxter_app_rpc/master/.rosinstall
wstool update -t src
rosdep install -r -y --from-paths src --ignore-src
catkin build
source devel/setup.bash

Usage

You simply need to (1) run RPC server and you're ready to (2) execute your commands.

Run RPC server

Run RPC server that starts ROS nodes for RPC.

Or run in simulation mode if you're not working with a real robot. This starts [Gazebo]{.title-ref} and [RViz]{.title-ref} that use up lots of computer resource.:

roslaunch baxter_rpc_server rpc.launch        (Real robot)

roslaunch baxter_rpc_server rpc_sim.launch    (simulation)

Execute your command

RPC invocations defined in this package are normal ROS Service (+ some Actions). So call them by the ROS Service manner.

You can get an idea by seeing the sample script on [ipython]{.title-ref} terminal, which can be run as:

ipython -i `rospack find baxter_rpc_server`/script/samplescript_baxter_rpc.py

Tech support

Search existing issues, submit a ticket at GitHub.

Troubleshooting

IK failure with "[/ExternalTools/left/PositionKinematicsNode/IKService] responded with an error"

Make sure Gazebo launch is run from a terminal where [baxter.sh sim]{.title-ref} was already run properly.

EoF