birl_baxter_common

URDF, meshes, and custom messages describing the Baxter Research Robot from Rethink Robotics , Improving by BIRL. This package is suitable for birl Baxter Robot research.

Code & Tickets

Documentation	http://sdk.rethinkrobotics.com/wiki https://github.com/birlrobotics/birl_baxter/wiki
Issues	https://github.com/RethinkRobotics/baxter_common/issues
Contributions	http://sdk.rethinkrobotics.com/wiki/Contributions https://github.com/birlrobotics/

baxter_common Repository Overview

.
+-- robots_description       baxter urdf and meshes for birl baxter research
|   +--config
|   +--easy_launch               use this launch file if you are beginner
|   +--launch                    launch file for user who is familiar with baxter urdf
|   +--robots                    some urdf for table and camera with baxter
|   +--urdf                      some urdf for table and camera
|   +--meshes                    some meshes for table and camera
+-- baxter_common/           baxter_common metapackage
|
+-- baxter_description/      urdf and meshes describing baxter
|   +-- urdf/
|   +-- meshes/
|
+-- baxter_core_msgs/        messages and services for communication with baxter
|   +-- msgs/
|   +-- srvs/
|
+-- baxter_maintenance_msgs/ messages for baxter maintenance routines
|   +-- msgs/
|
+-- rethink_ee_description/  urdf and meshes describing end effectors
|   +-- urdf/
|   +-- meshes/

Other Baxter Repositories

baxter	https://github.com/RethinkRobotics/baxter
baxter_interface	https://github.com/RethinkRobotics/baxter_interface
baxter_tools	https://github.com/RethinkRobotics/baxter_tools
baxter_examples	https://github.com/RethinkRobotics/baxter_examples
birl_sensors	https://github.com/birlrobotics/birl_sensors

Latest Release Information

http://sdk.rethinkrobotics.com/wiki/Release-Changes

https://github.com/birlrobotics

Improvement by Ben for birl Baxter

1.Improvement in files

we improve the launch files, urdf files, mesh files.

.
+--robots_description
|  +--easy_launch
|  +--launch
+--rethink__ee_description
|  +--urdf
|     +--electric_gripper
|     |  +--forcesensor_full2.URDF
|     |  +--rethink_electric_pa_gripper.xacro
|     +--sake_gripper
|  +--meshes
|     +--electric_pa_gripper_base.stl
|     +--female_camera
|     +--forcesensor
|     +--electric_gripper_base.stl
+--baxter_description
|  +--urdf
|     +--left_end_pa_effector.urdf.xacro
|     +--right_end_pa_effector.urdf.xacro
|     +--baxter_ft2.urdf.xacro
|     +--baxter_full.urdf.xacro
|     +--baxter_sake.urdf.xacro
|     +--baxter_base
|        +--baxter_base_ft2.urdf.xacro
|
|

2.Improvement in model

improving the model of forcesensor, sakegripper, camera frame, male camera both in rviz and gazebo

birl baxter run

if you are the beginner,try this

roslaunch robots_description baxter_rviz_r_ft_camera.launch
     or
roslaunch robots_description baxter_gazebo_r_ft_camera.launch

if you are user who is familiar with baxter urdf

roslaunch robots_description baxter_rviz_full.launch
     or
roslaunch robots_description baxter_gazebo_full.launch