Baxter_simulation.md

@robogeekcanada

Baxter Simulator installation

1. Dependencies

$ sudo apt-get install ros-noetic-effort-controllers

2. Installation

$ cd
$ mkdir -p baxterws/src
$ cd baxterws/src/
$ wstool init
$ wstool merge https://gist.githubusercontent.com/jarvisschultz/f65d36e3f99d94a6c3d9900fa01ee72e/raw/baxter_packages.rosinstall
$ wstool update
$ source /opt/ros/noetic/setup.bash
$ cd ..
$ catkin_make
# Refer to Troubleshooting, to fix couple files if catkin_make fails.
$ echo 'source ~/baxterws/devel/setup.bash'>>~/.bashrc
$ source ~/.bashrc

3. Troubleshooting

• Error exception in robot_enable.py:
  • Remove CV_LOAD_IMAGE_UNCHANGED ~/baxterws/src/baxter_simulator/baxter_sim_hardware/src/baxter_emulator.cpp

4. Testing

Check if packages were installed, if not make sure the package is properly built

T1:

$ rospack list

T2:

$ roslaunch baxter_sim_examples baxter_pick_and_place_demo.launch

Partially working...need to fix some stuff

To be tested.... T3:

$ rosrun intera_examples camera_display.py

Options to be tested:

$ rosrun intera_examples camera_display.py -c head_camera
$ rosrun intera_examples camera_display.py -c right_hand_camera
$ rosrun intera_examples camera_display.py -e

Once Baxter is working well, I will try to work on Sawyer as it should be similar fixes.