ME537-Project

Contents

• Installation
• Physical Baxter Example Run
• Simulation Example Run
• Known Bugs

Requirements

• Ubuntu 18.04 (preferred) or Ubuntu 16.04
• Git

---

Installation

Clone the repository and update the submodules

cd ~
git clone https://github.com/chadrs2/ME537-Project.git
cd ~/ME537-Project
git submodule update --init --recursive

Build repository

1. Remove current build and devel folders

sudo rm -rf build devel

2. Install necessary ROS dependency packages

sudo apt install ros-<ros_version>-effort-controllers
sudo apt install qt4-default

3. Run catkin_make

Set up personal computer

Run the following command:

bash -i ~/ME537-Project/devel/setup.sh; source ~/.bashrc;

---

Physical Baxter Example Run

1. Source setup script

source ~/ME537-Project/devel/setup.sh

2. Change into simulation baxter environment within main ~/ME537-Project directory:

./baxter.sh

3. Resets robot: rosrun baxter_tools enable_robot.py -r
4. Enables robot: rosrun baxter_tools enable_robot.py -e
5. Untucks robot arms: rosrun baxter_tools tuck_arms.py -u
6. Now run python command files in ipython, using the "run" command before the file name.

Simulation Example Run

1. Source setup script

source ~/ME537-Project/devel/setup.sh

2. Check that ~/ME537-Project/baxter.sh file has your own computer's IP address
3. Change into simulation baxter environment within main ~/ME537-Project directory:

./baxter.sh sim

4. Start up baxter in gazebo:

roslaunch baxter_gazebo baxter_world.launch

5. In a new terminal (repeat steps 1 & 3 in new terminal):
6. Resets robot: rosrun baxter_tools enable_robot.py -r
7. Enables robot: rosrun baxter_tools enable_robot.py -e
8. Untucks robot arms: rosrun baxter_tools tuck_arms.py -u
9. Now run your own files!

---

Known Bugs

Not Found rospkg. Occurs normally when trying to do a rosrun command

You probably don't have ros setup for python3. Run the following commands

sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg