原创博文,转载请标明出处:--周学伟http://www.cnblogs.com/zxouxuewei/
Step 1: Setup ROS Environment
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_wsroot@zxwubuntu-Aspire-V3-572G:~# source /opt/ros/indigo/setup.bashroot@zxwubuntu-Aspire-V3-572G:~# catkin_make
Source ROS Environment Setup Script
# Source baxter.sh scriptroot@zxwubuntu-Aspire-V3-572G:~# . baxter.sh
Step 2: Verify ROS Connectivity
1.Verify ROS Master Ping
# Identify the ROS Master locationroot@zxwubuntu-Aspire-V3-572G:~# env | grep ROS_MASTER_URIroot@zxwubuntu-Aspire-V3-572G:~# ping# Exampleroot@zxwubuntu-Aspire-V3-572G:~# ping 011503P0019.local
2.View Available ROS Topics
root@zxwubuntu-Aspire-V3-572G:~# rostopic list
/robustcontroller/Tare/JointPoseAction/right/set_dc_weights/robustcontroller/Tare/JointPoseAction/right/set_ff_weights/robustcontroller/left/CalibrateArm/enable/robustcontroller/left/CalibrateArm/status/robustcontroller/left/Tare/enable/robustcontroller/left/Tare/status/robustcontroller/right/CalibrateArm/enable/robustcontroller/right/CalibrateArm/status/robustcontroller/right/Tare/enable/robustcontroller/right/Tare/status .........
3.Verify Development Workstation Ping
$ env | grep ROS_IPROS_IP=192.168.1.102
$ ssh ruser@# Password: rethink# Example:$ ssh ruser@011303P0017.local# Now that we have SSH'd into the robot, verify that we are able to ping back to the development PCruser@p99 ~ $ ping # Examples:# ROS_IPruser@p99 ~ $ ping 192.168.101.99# ROS_HOSTNAMEruser@p99 ~ $ ping yodaruser@p99 ~ $ exit
4.Echo a ROS Topic
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_wsroot@zxwubuntu-Aspire-V3-572G:~# . baxter.shroot@zxwubuntu-Aspire-V3-572G:~# rostopic echo /robot/joint_states
--->>
Step 3: Enable the Robot
root@zxwubuntu-Aspire-V3-572G:~# rosrun baxter_tools enable_robot.py -e
此处由于,baxter广方提供的SDK包和baxter robot的软件版本不对应会出问题:
后来参考:http://sdk.rethinkrobotics.com/wiki/Workstation_Update 后解决。
root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws/src/root@zxwubuntu-Aspire-V3-572G:~# gedit baxter_sdk.rosinstall &
Master https://github.com/RethinkRobotics/baxter/raw/master/baxter_sdk.rosinstallRelease v1.2.0 https://raw.githubusercontent.com/RethinkRobotics/baxter/release-1.2.0/baxter_sdk.rosinstallRelease v1.1.1 https://raw.githubusercontent.com/RethinkRobotics/baxter/release-1.1.1/baxter_sdk.rosinstallRelease v1.1.0 https://raw.githubusercontent.com/RethinkRobotics/baxter/release-1.1.0/baxter_sdk.rosinstallRelease v1.0.0 https://github.com/RethinkRobotics/baxter/raw/ea58ecd3204368791bf8d0afe5e9c7d0354b6e58/baxter_sdk.rosinstallRelease v0.7.0 https://github.com/RethinkRobotics/baxter/raw/ff8afbd2d0dd71b6f5d3acc14a210313e1b6fcb7/baxter_sdk.rosinstall
- git: local-name: baxter uri: https://github.com/RethinkRobotics/baxter.git version: master- git: local-name: baxter_interface uri: https://github.com/RethinkRobotics/baxter_interface.git version: master- git: local-name: baxter_tools uri: https://github.com/RethinkRobotics/baxter_tools.git version: master- git: local-name: baxter_common uri: https://github.com/RethinkRobotics/baxter_common.git version: master- git: local-name: baxter_examples uri: https://github.com/RethinkRobotics/baxter_examples.git version: master 保存退出:
root@zxwubuntu-Aspire-V3-572G:~# wstool updateroot@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_ws/srcroot@zxwubuntu-Aspire-V3-572G:~# cd baxter/root@zxwubuntu-Aspire-V3-572G:~# git describe v1.1.1root@zxwubuntu-Aspire-V3-572G:~# cd ~/ros_wsroot@zxwubuntu-Aspire-V3-572G:~# ./baxter.shroot@zxwubuntu-Aspire-V3-572G:~# catkin_makeroot@zxwubuntu-Aspire-V3-572G:~# catkin_make install
重新使能机器人
root@zxwubuntu-Aspire-V3-572G:~# rosrun baxter_tools enable_robot.py -e
Step 4: Run an Example Program
root@zxwubuntu-Aspire-V3-572G:~# rosrun baxter_examples joint_velocity_wobbler.py
Step 5: Interactively Program Baxter
root@zxwubuntu-Aspire-V3-572G:~# rosrun baxter_tools enable_robot.py -e
$ python# Import the necessary Python modules# rospy - ROS Python API>>> import rospy# baxter_interface - Baxter Python API>>> import baxter_interface# initialize our ROS node, registering it with the Master>>> rospy.init_node('Hello_Baxter')# create an instance of baxter_interface's Limb class>>> limb = baxter_interface.Limb('right')# get the right limb's current joint angles>>> angles = limb.joint_angles()# print the current joint angles>>> print angles# reassign new joint angles (all zeros) which we will later command to the limb>>> angles['right_s0']=0.0>>> angles['right_s1']=0.0>>> angles['right_e0']=0.0>>> angles['right_e1']=0.0>>> angles['right_w0']=0.0>>> angles['right_w1']=0.0>>> angles['right_w2']=0.0# print the joint angle command>>> print angles# move the right arm to those joint angles>>> limb.move_to_joint_positions(angles)# Baxter wants to say hello, let's wave the arm# store the first wave position>>> wave_1 = {'right_s0': -0.459, 'right_s1': -0.202, 'right_e0': 1.807, 'right_e1': 1.714, 'right_w0': -0.906, 'right_w1': -1.545, 'right_w2': -0.276}# store the second wave position>>> wave_2 = {'right_s0': -0.395, 'right_s1': -0.202, 'right_e0': 1.831, 'right_e1': 1.981, 'right_w0': -1.979, 'right_w1': -1.100, 'right_w2': -0.448}# wave three times>>> for _move in range(3):... limb.move_to_joint_positions(wave_1)... limb.move_to_joint_positions(wave_2)# quit>>> quit()