whx828 / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot

baxter_simulator

Rethink Robotics Baxter Simulator refactored for Gazebo11, ROS Noetic and Python3

Installation Instructions

The detailed installation and setup instructions are available in the wiki of this repository.

Other Baxter Repository Forks for ROS Noetic

baxter	https://github.com/maymohan/baxter
baxter_interface	https://github.com/maymohan/baxter_interface
baxter_tools	https://github.com/maymohan/baxter_tools
baxter_examples	https://github.com/maymohan/baxter_examples
baxter_common	https://github.com/maymohan/baxter_common
baxter_pykdl	https://github.com/maymohan/baxter_pykdl

Code & Tickets

Documentation	http://sdk.rethinkrobotics.com/wiki
Issues	https://github.com/RethinkRobotics/baxter_simulator/issues
Contributions	http://sdk.rethinkrobotics.com/wiki/Contributions

baxter_simulator Repository Overview

.
|
+-- baxter_simulator/        baxter_simulator metapackage
|
+-- baxter_gazebo/           Gazebo interface for the Baxter that loads the models into simulation
|   +-- src/
|   +-- launch/
|   +-- worlds/
|
+-- baxter_sim_controllers/  Controller plugins for Baxter
|   +-- src/
|   +-- include/
|   +-- config/
|
+-- baxter_sim_examples/     Examples specific to Baxter in Simulation
|   +-- scripts/             (use baxter_examples for examples that will work both in
|   +-- include/              simulation AND the real Baxter robot)
|   +-- launch/
|   +-- models/
|
+-- baxter_sim_hardware/     This emulates the hardware interfaces of Baxter
|   +-- src/
|   +-- include/
|   +-- config/
|   +-- launch/
|
+-- baxter_sim_io/           QT based navigator plugins for baxter
|   +-- src/
|   +-- include/
|   +-- ui/
|
+-- baxter_sim_kinematics/     Implementation of IK, FK and gravity compensation for baxter
|   +-- src/
|   +-- include/
|   +-- launch/