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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.
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.
MoveIt! visual tools is not for image processing. I suggest you check out the vision_opencv metapackage for using OpenCV within a ROS node.
It's not maintained anymore, but Dave Coleman wrote the baxter_cpp set of packages.
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
Asked: 2016-05-17 23:34:47 -0500
Seen: 1,110 times
Last updated: May 18 '16
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