Joint Position Keyboard Example MoreView sourceHistoryPage

Example Programs

Summary

The joint position keyboard example demonstrates basic joint position control. Each key of your development PC is mapped to either increasing or decreasing the angles of a particular joint on Baxter's arms. Each arm is represented by one side of the keyboard with corresponding increase/decrease joint key pairings within the rows.

Code Walkthrough

Joint Position Keyboard - Code Walkthrough

Usage

Verify that the robot is enabled from an RSDK terminal session, ex:

$ rosrun baxter_tools enable_robot.py -e

Start the joint position keyboard example program, ex:

$ rosrun baxter_examples joint_position_keyboard.py

Upon startup, you will be prompted with the following:

Initializing node... 
Getting robot state... 
Enabling robot... 
[INFO] [WallTime: 1399575163.891211] Robot Enabled
Controlling joints. Press ? for help, Esc to quit.

Useful reminder of the joint name mapping:

Pressing the  ? key will print the key->joint mapping:

Arguments

Important Arguments: N/A

See the joint position keyboard's available arguments on the command line by passing joint_position_keyboard.py the -h, help argument:

$ rosrun baxter_examples joint_position_keyboard.py -h

usage: joint_position_keyboard.py [-h]

RSDK Joint Position Example: Keyboard Control

    Use your dev machine's keyboard to control joint positions.

    Each key corresponds to increasing or decreasing the angle
    of a joint on one of Baxter's arms. Each arm is represented
    by one side of the keyboard and inner/outer key pairings
    on each row for each joint.
    

optional arguments:
  -h, --help  show this help message and exit

See help inside the example with the '?' key for key bindings.

Trouble?

Please visit our Troubleshooting Section