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It seems that you're having trouble with your ROS networking, and the associated Linux environment variables that allow bi-directional ROS communication. The ./baxter.sh script is a convenience script to help you set these viarables. Please see this tutorial from Rethink on how to set up the baxter.sh script
If you'd like a deeper dive into Baxter ROS networking, Rethink has a Networking Page that describes the ROS Naming conventions according to your networked environment. Finally, it might be useful to check out the ROS Environment variables page, looking at ROS_MASTER_URI and ROS_IP / ROS_HOSTNAME in particular.
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