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Example programs using the SDK for the Baxter Research Robot

Home Page: www.rethinkrobotics.com/sdk

License: BSD 3-Clause "New" or "Revised" License

Python 99.45% CMake 0.55%

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Unsynchronized grippers when playing back

This issue was originally reported on the brr-users forum:
https://groups.google.com/a/rethinkrobotics.com/d/msg/brr-users/mloGg2SMj1o/Ae19tnl_484J

When using record-playback of joint_recorder.py and joint_trajectory_file_playback.py, the gripper playback is out of sync with the arm playback. Specifically, the grippers start as soon as the script runs, and the joint_trajectory_action_server begins playback a few seconds later. The source of this delay is computing all of the thousands of points in the Bezier curve. Roughly 1 second of planning time is required per 1,000 points.

One possible solution to this issue: hold back gripper playback until the JTAS starts executing the trajectory. This can be done by listening for feedback on the JTAS' feedback topic, and beginning execution of gripper playback at that point.

RSDK - Logitech Joystick controller command continuously being sent

From @pconti

When using a logitech controller, if the joystick controller is run as 'logitech', the left arm's command continuously gets sent. If the same logitech controller is used with the 'xbox' joystick controller, then functionality is as expected.

Expectation for Logitech:

rightTrigger: left gripper close
rightTrigger: left gripper open
leftTrigger: right gripper close
leftTrigger: right gripper open
leftStickHorz: right inc right_s0
leftStickHorz: right dec right_s0
rightStickHorz: left inc left_s0
rightStickHorz: left dec left_s0
leftStickVert: right inc right_s1
leftStickVert: right dec right_s1
rightStickVert: left inc left_s1
rightStickVert: left dec left_s1
rightBumper: left: cycle joint
leftBumper: right: cycle joint
btnRight: left calibrate
btnLeft: right calibrate
function1: help
function2: help

indigo: queue_size keyword needed in publishers

I know you guys don't fully support Indigo yet, but there is a small change that now causes warnings in some of your examples. Particularly when I use the Joint Trajectory Playback Example I get the warning:

baxter_interface/src/baxter_interface/limb.py:98: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
latch=True)

That link:
http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers

Says:

As of Indigo not passing the keyword argument queue_size will result in a warning being printed to the console.

So it looks like you just need to edit the python code somewhere to pass it explicitly that flag.

Thanks!

In Examples, Ctrl+C Errors on Exit with Simulated Robot

A crossover issue from RethinkRobotics/baxter_simulator#58. The gist:
When running baxter_examples joint_velocity_wobbler.py on the baxter_simulator robot, and Ctrl+C is asserted by the user, various errors can be produced by rospy on exit:
A Timer Error:

~/ros_ws$ ./baxter.sh sim
~/ros_ws$ rosrun baxter_examples joint_velocity_wobbler.py
[INFO] [WallTime: 1441031503.775147] [128.230000] Robot Enabled
[INFO] [WallTime: 1441031549.388135] [173.643000] Robot Disabled
File "/home/baxter/ros_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 158, in
File "/home/baxter/ros_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 153, in
File "/home/baxter/ros_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 134, in
File "/opt/ros/indigo/lib/python2.7/distpackages/rospy/timer.py", line 99, in sleep
File "/opt/ros/indigo/lib/python2.7/distpackages/rospy/timer.py", line 157, in sleep
raise rospy.exceptions.ROSInterruptException("ROS shutdown request")
rospy.exceptions.ROSInterruptException: ROS shutdown request

A baxter_interface Limb Error:

$ rosrun baxter_examples joint_velocity_wobbler.py 
Initializing node... 
Getting robot state... 
Enabling robot... 
[INFO] [WallTime: 1441731848.427393] [7726.313000] Robot Enabled
Moving to neutral pose...
Left Moving to neutral pose complete...
Right Moving to neutral pose complete...
Wobbling. Press Ctrl-C to stop...
^C
Exiting example...
Moving to neutral pose...
Left Moving to neutral pose complete...
Right Moving to neutral pose complete...
Disabling robot...
[INFO] [WallTime: 1441731868.003786] [7745.839000] Robot Disabled
Finished shutdown check...
Traceback (most recent call last):
  File "/data/users/imcmahon/dev/mrsp_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 164, in <module>
    main()
  File "/data/users/imcmahon/dev/mrsp_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 159, in main
    wobbler.wobble()
  File "/data/users/imcmahon/dev/mrsp_ws/src/baxter_examples/scripts/joint_velocity_wobbler.py", line 136, in wobble
    self._right_arm.set_joint_velocities(cmd)
  File "/data/users/imcmahon/dev/mrsp_ws/src/baxter_interface/src/baxter_interface/limb.py", line 367, in set_joint_velocities
    self._pub_joint_cmd.publish(self._command_msg)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 819, in publish
    self.impl.publish(data)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 999, in publish
    b.tell()
AttributeError: 'NoneType' object has no attribute 'tell'

This is likely a rospy simulated_time timer issue, since the joint_velocity_wobbler script does not error like this on the real robot, but it is desirable to find a fix that would prevent this issue entirely.

Delayed Gripper playback in joint_trajectory_file_playback.py

From Juan in the brr-users group

"I recently updated to SDK 1.1.1. just today I tested the standard record / play demo and the Baxter research robot.

I found out that the grippers open and close functionality is out of sync when the recorded motion is replayed.

That is, the gripper might close several seconds later than it should, or it might open several seconds later than it should."

Joint recording playback timing is not handled appropriately

From Pete Conti:

Recorded a joint trajectory where the endpoint was far from the starting
point. When playback was run, the trajectory did not fully complete. It
appeared that playback was cut short by approximately the amount of time
it took to reach the starting point when playback was initiated.

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baxter_examples's People

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baxter_examples's Issues

Unsynchronized grippers when playing back

RSDK - Logitech Joystick controller command continuously being sent

indigo: queue_size keyword needed in publishers

In Examples, Ctrl+C Errors on Exit with Simulated Robot

Delayed Gripper playback in joint_trajectory_file_playback.py

Joint recording playback timing is not handled appropriately

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