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Running same source code for Baxter and Fetch arm movement?

asked 2017-03-03 00:49:53 -0500

Waleed gravatar image

Is it possible for running same source code for Baxter and Fetch arm movement? For Fetch actionlib stack is used for arm and gripper movement whereas in Baxter, actionlib stack is not used. Please help.

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Seeing as one uses actionlib and the other doesn't, I'd venture a guess and say: no, you won't be able to use the same source code, but perhaps with some changes it could work.

gvdhoorn gravatar image gvdhoorn  ( 2017-03-04 04:29:30 -0500 )edit

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answered 2017-03-09 12:24:06 -0500

imcmahon gravatar image

updated 2017-03-09 12:25:07 -0500

If you 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:

Baxter MoveIt tutorial:

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Asked: 2017-03-03 00:49:53 -0500

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Last updated: Mar 09 '17