Gazebo simulation with emulated interfaces for the Baxter Research Robot
This is a modified version of the baxter simulator by rethink robotics (http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator) adapted to be integrated in the NRP (Neurorobotics Platform [1] ) developped in the context of the Human Brain Project [2].
-
clone this repository in the folder $HBP/GazeboRosPackages/src of your local installation
-
install additional dependencies:
sudo apt install ros-kinetic-joint-state-controller ros-kinetic-effort-controllers -
build the catkin workspace by running catkin_make in $HBP/GazeboRosPackages
- download the baxter robot model from here
- start a new experiment in NRP:
- open the object library from the left pannel of NRP the front end
- upload the baxter robot model zip file. Afterwards baxter will appear in the robots object group and it will possible to clone it:
-
load the robot controllers (before starting the simulation in NRP!):
roslaunch baxter_gazebo baxter_control.launch -
add a brain and Transfer Functions to the experiment
-
for joint plot in NRP Frontend to be able to plot joint states the attribute robotId in the bibi and exc files of the experiment must be set to "robot"
[1] https://neurorobotics.net [2] https://www.humanbrainproject.eu [3] https://bitbucket.org/hbpneurorobotics/neurorobotics-platform/src/master