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Baxter Research Robot SDK 0.7.0 Release Notes
Release Date: 11/21/2013
Overview
Baxter Research Robot SDK 0.7.0 is our first major upgrade to the SDK. In addition to velocity and position, researchers can now control joint torques, allowing for complete joint control. We are also supporting joint level Gazebo control, allowing users to simulate basic arm movements in Baxter. With v0.7.0 Baxter Research Robot SDK is now publicly available, allowing for a true open source experience.
Update Instructions
Major Updates
- Now publicly available!
- Joint torque control
- Gazebo Support
- Joint position accuracy improvements (factor of 10)
- ROS Groovy on robot
- ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
- Catkinization of SDK
- SDK reorganization into standalone metapackages, multiple repositories
- Ability to set speeds of joint position command execution
- Ability to specify gripper/object mass for custom grippers
Additions
- Joint torque control
- Gazebo Support
- Ability to set speeds of joint position command execution
- Ability to specify gripper/object mass for custom grippers
- Introduction of baxter_core_msgs and baxter_maintenance_msgs (formerly baxter_msgs)
- Convenient catkin environment initialization script baxter.sh (formerly init.sh)
- ROS/network configuration display in tty3 of the robot
- Gripper Cuff control example
- Ability to reset cameras (re-enumerate if not listed at startup)
- Gripper Action Server and example program
- Gripper control in joint trajectory playback example
- Gripper cuff control in joint recorder
- Ability to disable arm-to-arm collision avoidance
- Ability to disable cuff zero-g interaction
- Ability to disable gravity compensation
- Launch files for action server/joystick examples
- Boot animation
- rosbags of /diagnostics in FTP Logs
- All (rosrun) examples now include -h (help) argument/description
Removals
- baxter_msgs (now baxter_core_msgs, baxter_maintenance_msgs)
- rosbuild support
- joystart scripts (now replaced with roslaunch files)
- init.sh (now replaced with baxter.sh for catkin environments)
Changes
- ROS Groovy on robot
- Joint position accuracy improvements (factor of 10)
- ROS Topic/Message cleanup allowing for direct robot communication (no '/sdk' proxy, decreased latency)
- SDK reorganization into standalone metapackages
- Catkin/Bloom standard package reorganization
- Limb joint commands now single message - reflected in limb interface
- Major gripper rewrite to support more advanced usage and future custom grippers
- ROS logging cleanup for console, diagnostics use.
- More explicit error messages
- Improved verbosity/standardization of help output
- DigitalIO state_changed signal/slot and read-only state property (no longer callable)
Fixes
- Tuck arm improvements to handle ctrl-c and partial tucks
Known Issues
None
