Baxter cheat sheet

baxter-cheat-sheet.md

Baxter cheat sheet

Useful links

• Baxter uses ROS indigo. Installation:
  • According to ROS: http://wiki.ros.org/indigo/Installation/Ubuntu
  • According to Alessandro: http://alecive.github.io/blog/2015/11/12/ROS-naive-installation, http://wiki.ros.org/jade/Installation/Source
• Baxter:
  • Setup (see the following for the setup)
  • Hello Baxter
  • Baxter API
• Alessandro's ROS tips and tricks

Facts

• The ROS core is running on the robot, you just have to connect to it.
• We use a separate ethernet card to connect the computer to the robot. That way the robot is not connected to the general university network.
  • Use link-local configuration for the computer-robot interface. In other words the computer and the robot each find a free IP address (wikipedia/Link-local_address.
  • Baxter is automatically discovered through zeroconf as baxter.local. (On ubuntu see: HowToZeroconf).
  • Typically you only have to set baxter_hostname="baxter.local" and your_ip="$(/sbin/ip -o -4 addr list eth0 | awk '{print $4}' | cut -d/ -f1)" in the baxter.sh file. Replace eth0 by the interface connected to Baxter.

Quick reminders

• (Un/)Tuck:

  rosrun baxter_tools tuck_arms.py -t # and -u

• Enable / Disable:

  rosrun baxter_tools enable_robot.py -e # and -d

• Cameras: through topics

  /cameras/head_camera/image
  /cameras/right_hand_camera/image
  /cameras/left_hand_camera/image
  

• Screen: just push images to /robot/xdisplay or execute

  rosrun baxter_examples xdisplay_image.py --file=image.png`

Collaboration

• Please edit this file.
• Please get registered to scazlab.slack.com/#baxter.

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