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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

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