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I figured it out, after running the commands from Baxter simulator tutorial, you first need to run the following commands in two separate terminals from this tutorial :

rosrun baxter_tools enable_robot.py -e
rosrun baxter_interface joint_trajectory_action_server.py

Then you need to select command "With Electric Gripper(s)" and run the following command:

roslaunch baxter_moveit_config baxter_grippers.launch