- Setup ROS and Baxter SDK (we're assuming you're on ROS Jade)
- Clone the dependencies and compile:
cd ~/catkin_ws/src # Or ros_ws if you created such workspace
git clone https://github.com/3rdHand-project/thr_infrastructure.git
# The packages below are deps of THR Infrastructure
git clone https://github.com/RethinkRobotics/baxter_pykdl.git
git clone https://github.com/baxter-flowers/optitrack_publisher.git -b calibrations
git clone https://github.com/baxter-flowers/baxter_commander.git
git clone https://github.com/baxter-flowers/trac_ik_baxter.git
git clone https://github.com/baxter-flowers/trac_ik.git
sudo apt install libnlopt-dev libnlopt0 ros-jade-nlopt
sudo apt install python-pip ros-jade-moveit # Moveit has deps for Baxter Commander
sudo pip install xmltodict
cd ~/catkin_ws
catkin_make
cd ~/catkin_ws
./baxter.sh # Make sure you have copied it and edited its variables first. See Baxter workstation setup
roslaunch thr_interaction_controller manual.launch scene:=pobax display:=action
thr_infrastructure (Third hand robot infrastructure) is the Baxter part inherited from the Third Hand Project.
Checkout more details about thr_infrastructure online.
Please recalibrate Optitrack using the wanding bar in Motive and the Baxter-Optitrack calibration.
have you executed ./baxter.sh? it looks like you're using a local ROS Master instead of Baxter's one.