baxter_ridgeback

Ballroom dancing demo with the Ridgeback and Baxter robots.

Quickstart Guide:

1. Ridgeback is at 192.168.131.1, Baxter is at 192.168.131.3 (configured in Baxter boot up menu). Baxter is ethernet wired to Ridgeback. As we cannot change code on Baxter, we have to modify Ridgeback to use Baxter ROScore
2. SSH into Ridgeback (IP 192.168.0.138 for CASE), start screen session. In the first screen window, execute sudo service ros stop
3. execute export ROS_MASTER_URI=http://011310P0010:11311 (your /etc/hosts file should contain the IP assosicated with the net name of the Baxter)
4. execute export ROS_IP=192.168.131.1 then execute roslaunch ridgeback_base base.launch --screen (starts Ridgeback base modules with Baxter as the master)
5. start new screen windows (Ctrl+a then c), ssh ruser@011310P0010 (password rethink)
6. execute rosrun baxter_tools enable_robot.py -e then execute rosrun baxter_examples xdisplay_image.py -f=face.png then execute rosrun baxter_tools tuck_arms.py -u
7. execute rosrun baxter_examples joint_position_file_playback.py -f pose.txt -l 0
8. start new screen windows (Ctrl+a then c), do steps 3. 4., then execute ./baxter_ridgeback.py
9. you can now drive Ridgeback normally by holding down (L1), or let ballroom work by holding down (X)
10. After demo, kill everything in every windows (Ctrl+c). To tuck arms after demo for packing, on the ssh session with Baxter, execute rosrun baxter_tools tuck_arms.py -t