Demo

A working demo of Baxter sinking a shot can be found at: Demo

Cloning Repo

Make sure to clone this repo into your home directory in order to user the install file. That is:

cd ~
git clone <OUR-REPO>

Install

We've provided an install file that will set up the Baxter simulator within a ROS Kinetic environment. Make sure you've got pip3, catkin, and a GitHub account.

cd ~/Baxter-The-Pool-Wiz
./install.sh

Now edit Baxter-The-Pool-Wiz/baxter.sh and make sure the 30th ish line reads:

ros_version="kinetic"

Test Installation

Whenever running any commands, make sure you are in a terminal window and have run the commands:

source ~/Baxter-The-Pool-Wiz/devel/setup.bash
cd ~/Baxter-The-Pool-Wiz
./baxter.sh sim

Setup a terminal window and run:

# Launch Baxter in an empty world
roslaunch baxter_gazebo baxter_world.launch

Wait for Gazebo to spin up. You should see the robot in the world. In another setup terminal window, run:

# Enable the robot
rosrun baxter_tools enable_robot.py -e      

Then:

# run test
rosrun baxter_examples joint_velocity_wobbler.py  

The Baxter should be waving its arms :)
Now to test MoveIt!, stop the wobbler script and run:

# Start trajectory controller
rosrun baxter_interface joint_trajectory_action_server.py

In another setup window:

# Start Rviz MoveIt! plugin
roslaunch baxter_moveit_config baxter_grippers.launch

Wait until you see the message You can start planning now!. Move the gripper around using the tool overlaying the gripper. Once a destination pose is selected (marked in orange), go to the planning tab and click plan. You should see the animated trajectory.

Update Repos

Keep dependencies in src/dep up to date with command:

gitman update

Pool Simulation

Make sure to put the contents of the meshes directory into your gazebo models directory located at ~/.gazebo/models

Whenever running any commands, make sure you are in a terminal window and have run the commands:

source ~/Baxter-The-Pool-Wiz/devel/setup.bash
cd ~/Baxter-The-Pool-Wiz
./baxter.sh sim

# launch sim
roslaunch baxter_pool_sim pool.launch   

# Enable the robot
rosrun baxter_tools enable_robot.py -e 

# Start trajectory controller
rosrun baxter_interface joint_trajectory_action_server.py   

# Start Rviz MoveIt! plugin
roslaunch baxter_moveit_config baxter_grippers.launch

# moveit pose planner
roslaunch pool_planner pose_planner.launch