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example for using C++ to program Baxter robot?

asked 2016-05-17 23:34:47 -0500

Zero gravatar image

updated 2016-05-17 23:52:43 -0500

Hi, I'm a beginner in ROS and Baxter. I'm thinking use c++ to program my Baxter robot but I only can found the Python example in Baxter wiki. So may I know where can find those tutorial or like an example to use C++ to program Baxter robot? Thank you!

I want to let the robot able to identify the ball's color then pick up the correct color ball.

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answered 2016-05-18 08:15:23 -0500

AFAIK the SDK and API that Rethink has released only provides Python bindings (likely why you've only seen Python examples). However, the methods that they provide are just using simple ROS topics, services, and actions. If you want to use C++, all you need to do is create publishers, subscribers, and clients that use the appropriate communication channels (just like any other ROS node).

Another idea might include using C++ and Python simultaneously in your project. For example, in C++ you could subscribe to a camera feed and do all of your image processing. Then once you know the location of the correct color ball, you could pass that data along to a Python node (via a topic, action, or service) that uses the Rethink API to handle the arm motions.

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Thank you for your idea! it's really really useful for me!

Zero gravatar image Zero  ( 2016-05-18 19:20:28 -0500 )edit

Hi Jarvisschultz, Can I ask you one more question? If I want to use C++ node to do those image processing and location which was you suggest to me, it's that mean in my C++ node I had to include those relate MoveIt lib? for example, visual tools.

Zero gravatar image Zero  ( 2016-05-23 00:43:24 -0500 )edit

MoveIt! visual tools is not for image processing. I suggest you check out the vision_opencv metapackage for using OpenCV within a ROS node.

jarvisschultz gravatar image jarvisschultz  ( 2016-05-23 07:19:50 -0500 )edit

ok, thank you so much. Your advice always useful for me!

Zero gravatar image Zero  ( 2016-05-23 19:21:03 -0500 )edit

answered 2016-05-18 12:02:11 -0500

gvdhoorn gravatar image

It's not maintained anymore, but Dave Coleman wrote the baxter_cpp set of packages.

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ok,thank you so much! But I had one question about the baxter_cpp, the what's MoveIT mean? I mean it's that let user use rviz to control the robot or the rviz was just one of the function?

Zero gravatar image Zero  ( 2016-05-18 19:18:58 -0500 )edit

It seems to me that most of what was in the baxter_cpp package is now part of moveit_robots. MoveIt! is a tool for motion planning. It's very cool, but not specifically tied to Baxter. The baxter_cpp package assumes MoveIt usage

jarvisschultz gravatar image jarvisschultz  ( 2016-05-19 09:07:15 -0500 )edit

baxter_cpp is a bit more than some ikfast plugins and a moveit configuration. But it's unmaintained, so probably not useful for the OP.

gvdhoorn gravatar image gvdhoorn  ( 2016-05-19 09:24:49 -0500 )edit

ok,thank you for you guy's advice

Zero gravatar image Zero  ( 2016-05-19 19:16:39 -0500 )edit

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Asked: 2016-05-17 23:34:47 -0500

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Last updated: May 18 '16