ROS Robotics By Example

Summary

In this chapter, we described a real and popular robot called Baxter, manufactured by Rethink Robotics Corporation. Many of the details of the robot can be discovered using Baxter Simulator that displays the simulated Baxter using the Gazebo program. Since Baxter has two movable arms, much of the chapter text describes the arms and control of the arms.

The chapter started with a description of Baxter in both the research and the manufacturing versions. Baxter's arms and sensors and the control modes for the arms were described.

After downloading the Baxter Simulator software, the simulator was used to demonstrate various examples of control of Baxter with Python scripts supplied by Rethink Robotics. Baxter can be controlled by ROS commands, ...