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1 | initial version |
If you really want to run the same code on both Baxter and Fetch, likely you'll need to look at a different abstraction layer. I'd recommend using MoveIt's move_groups. Theoretically (as I have not tried this myself) with minimal changes, you'll be able to abstract away the actual details of arm controllers and kinematics using MoveIt code.
Fetch MoveIt tutorial: http://docs.fetchrobotics.com/manipulation.html
Baxter MoveIt tutorial: http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial
2 | No.2 Revision |
If you really want to run the same code on both Baxter and Fetch, likely you'll need to look at a different abstraction layer. I'd recommend using MoveIt's move_groups. MoveIt
's move_groups
. Theoretically (as I have not tried this myself) with minimal changes, you'll be able to abstract away the actual details of arm controllers and kinematics using MoveIt MoveIt
code.
Fetch MoveIt MoveIt
tutorial: http://docs.fetchrobotics.com/manipulation.html
Baxter MoveIt MoveIt
tutorial: http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial