README

How to connect to Baxter and start our code

Connect to the robot:

./baxter.sh [robotname].local

Close all cameras:

rosrun baxter_tools camera_control.py -c left_hand_camera rosrun baxter_tools camera_control.py -c right_hand_camera rosrun baxter_tools camera_control.py -c head_camera

Turn on left hand camera:

rosrun baxter_tools camera_control.py -o left_hand_camera

Enable Baxter:

rosrun baxter_tools enable_robot.py -e

Start joint_trajectory_action_server:

rosrun baxter_interface joint_trajectory_action_server.py

New terminal, conencted to robot:

Start move_group:

roslaunch baxter_moveit_config move_group.launch

New terminal, conencted to robot:

Start AR-Tracking:

roslaunch ar_track_alvar webcam_track.launch

New terminal, conencted to robot:

Start Main:

roslaunch brain main.launch

New terminal, conencted to robot:

Start Rviz:

rosrun rviz rviz

What is this repository for?

• This is the source code of our final project in 'EECS 206A | Introduction to Robotics' at the University of California, Berkeley in Fall 2017.
• Website: https://sites.google.com/berkeley.edu/towerbuildingbaxter-eecs206a/home

Who do I talk to?

• Team: Gerrit Schoettler, Rob Ruigrok and Ruhullah Najafi
• Go to our website for more details.