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Contents
Baxter Research Robot SDK 1.0.0 Release Notes
Release Date: 5/20/2014
Overview
Baxter Research Robot SDK 1.0.0 is our first non beta release! It allows researchers to now SSH into Baxter, so you can now run your own code on robot. It also contains upgrades to the Baxter Gazebo simulator, delivering a fully interface compatible simulator experience for the Baxter SDK. The new Demo Mode feature allows the SDKs most popular examples to run on robot, without the need to connect through the development workstation.
Update Instructions
Major Updates
- SSH access to the robot! Compile and run custom software on the robot
- New user editable wiki (http://sdk.rethinkrobotics.com/wiki)
- New 'raw' joint position control mode, command joint positions directly to JCBs
- Dynamic URDF loading of robot internal model to the parameter server
- Inverse kinematics service seeding ability
- Bootable demo mode
- Joint trajectory action server spline fitting, more accurate trajectory execution
- Full interface compatible Gazebo support
- Rosbridge
- Debian installation availability
- New joint position waypoints example program
- Advanced network configuration options
- Custom gripper state/property publication, ability to emulate Rethink grippers
Additions
- SSH access to the robot
- New user editable wiki (http://sdk.rethinkrobotics.com/wiki)
- Dynamic URDF loading of robot internal model to the parameter server
- Rosbridge
- Demo mode
- 'Raw' joint position control mode, command directly to the JCBs
- Software version compatibility verification
- Debian installation
- Advanced network and ROS environment configuration options (static IP, ROS master naming type, etc.)
- Joint position waypoints example
- Ability to stop, start, reboot robot software
- URDF accelerometer, display links and joints
- URDF Gazebo plugins for cameras, display, sonar, IR range sensors, accelerometers
- Gripper assembly meshes
- Second generation pneumatic gripper meshes
Removals
- baxter_maintenance_msgs LSCores and RMCores services
Changes
- Inverse kinematics service seeding ability
- Joint trajectory action server spline fitting, more accurate trajectory execution
- Full interface compatible Gazebo support
- All examples and tools verify software version compatibility
- Command timeout no longer disables robot, reverts to position mode holding current
- Sourceable baxter.sh script
- 'sim' baxter.sh argument
- https rosinstall repository checkouts (no SSH keys required)
- Gripper class hardware_version to hardware_name
Fixes
- Limb tcp_nodelay transport hint for joint states, endpoint state, and joint commands
- Ability to command subset of joints in torque and velocity control modes
- Head nod incorrect wait_for validation
- Update_robot timeout waiting for available updates
Known Issues
None
