baxter_rpc_server (RPC (Remote Procedure Call)) ROS package
Make sure baxter_rpc_msgs and tork_rpc_util 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
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 and RViz 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 terminal, which can be run as:
ipython -i `rospack find baxter_rpc_server`/script/samplescript_baxter_rpc.py
Search existing issues, submit a ticket at GitHub.
IK failure with "[/ExternalTools/left/PositionKinematicsNode/IKService] responded with an error"
Make sure Gazebo launch is run from a terminal where baxter.sh sim was already run properly.