The goals of this lab are to
- Understand the ROS coordinate transform message system TF
- Plots of the hand trajectories and accuracy measurement
- 1.5 weeks
Deliverables are due on a print-out and delivered at the beginning of the following class.
- Go through the TF tutorial. Comments:
- If a process dies, you can manually start “rosrun turtle_tf turtle_tf_listener” in another terminal window.
- If you have the right combination of Virtualbox/graphic card, rViz might work for you, but is not absolutely necessary. You start it using
rosrun rviz rviz
- You will not see anything in Rviz unless you
- Change “Fixed Frame” in Global Options to “world”
- Add a “TF” node using the “Add” button
- Move the turtles around
- Download baxter_tf, a bag file containing tf messages recorded on the Baxter.
- Read through the ROS bag file tutorial.
- Use what you learned in the TF tutorial to
- Download baxter_tf_pickup and calculate the accuracy with which Baxter can be moved to a desired location for both the left and right arm. Both arms move up and down on a straight line. You can calculate the accuracy by averaging over the end points, and then compare.