romulortr / baxter_velocity_interface

A velocity interface to control and estimate linear/angular velocity of baxter' cameras

This python package implements a velocity interface to control and estimate linear/angular velocity of baxter' cameras.

Requirements

1. Baxter SDK (https://sdk.rethinkrobotics.com/wiki/Workstation_Setup)
2. Baxter PyKDL (https://github.com/RethinkRobotics/baxter_pykdl)

Instructions

To run the interface using baxter_gazebo:

rosrun baxter_velocity_interface gazebo.py

To run the interface using baxter (real robot):

rosrun baxter_velocity_interface baxter.py

To run the keyboard teleop (velocity commands in the base-frame):

rosrun baxter_velocity_interface keyboard_teleop.py