View source for Connecting and Testing the Development Workstation

=== Prerequisites ===

* The RSDK software has been installed on to your Development Workstation - [[Installing the Research SDK|instructions here]].
* The Baxter Research Robot has been set up in its workspace and any purchased accessories have been installed - [[Baxter Research Robot Hardware Installation Guide|instructions here]].  
* '''''Additional Hardware Required:''''' 
* 1 Ethernet switch
* 2 Ethernet cables

=== Outcome of this step ===

* User can ping Baxter from a connected Development Workstation - validating network connectivity
* User can execute this command from a connected Development Workstation - validating that ROS messages work across the network connection

   <code>$  rostopic echo /rosout</code>
* You have setup your Baxter, your Development Workstation, and connected your whole system. You are now ready to run the robot using a sample program.

== Steps for Connecting to Baxter ==

* Physically connect Baxter to the Development Workstation

* Connect power to the ethernet switch

* Connect Baxter to a port on the ethernet switch with an ethernet cable

* Connect the Development Machine to the ethernet switch with a second ethernet cable

    Additional network setup details can be found [[Networking|here]]

* Set up the base ROS environment
<syntaxhighlight lang="bash" enclose="div">
# ROS Indigo
$ source /opt/ros/indigo/setup.bash
</syntaxhighlight>
Substitute your ROS distribution for <code>indigo</code> if necessary.

* Find the IP address of the robot. See the [[Networking]] page for details.  
    Possible Options:
* [[Networking#simple-network-configuration|Link-Local (Avahi) addressing]]: Use <code><Baxter's hostname>.local</code> to find Baxter on the network.  Baxter's hostname is set to the [[Serial Number|serial number]] on the back by default.  Rebooting the robot may be required if the network cable was not plugged in at startup.
* [[Networking#recommended-network-configuration|Local Router DHCP]]: Reserve a static IP or use hostname resolution.  
* [[Networking#connect-directly-to-corporate-or-university-network|Register on Organization Network]]: You can get Baxter's MAC Address from the [[Field Service Menu (FSM)]] and use it to register for a static IP address on your network.

* ''(Optional)'' Add the IP address of the robot (refered to as the <code><Baxter IP Address></code> on this page) to the <code>/etc/hosts</code> file on the Development Workstation.

* Ping the robot from the development workstation to check for connectivity.

   <code>$ ping <Baxter IP Address></code>

* Set the ROS_MASTER_URI environment variable

   <code>$ export ROS_MASTER_URI=http://<Baxter IP Address>:11311</code>

* List rostopics using the rostopic command

   <code>$ rostopic list</code>

* Show output on /rosout topic

   <code>$ rostopic echo /rosout</code>

== Next Steps ==

[[Running Example Research SDK Programs]]