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baxter_common_ros2 repositorybaxter_bridge baxter_core_msgs baxter_description baxter_maintenance_msgs rethink_ee_description |
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Repository Summary
Checkout URI | https://github.com/centralenantesrobotics/baxter_common_ros2.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-01-31 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
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baxter_bridge | 1.0.0 |
baxter_core_msgs | 1.3.0 |
baxter_description | 2.0.0 |
baxter_maintenance_msgs | 0.0.0 |
rethink_ee_description | 2.0.0 |
README
baxter_common_ros2
URDF, meshes, and custom messages describing the Baxter Research Robot from Rethink Robotics
All packages have been ported to ROS 2. Classical use of Baxter has been heavily tested (joint command, image topics)
baxter_bridge
The baxter_bridge package exposes a custom ros1<->ros2 bridge, precompiled for all Baxter's messages and specific topics. It embeds a ROS 2 robot_state_publisher. It avoids having to recompile ros1_bridge which can be quite long. Running the bridge with '-s' forces it to forward all (many, many) topics, otherwise only a few are automatically forwarded and the others are forwarded dynamically when suitable. When run from multiple computers (e.g. students doing a lab on Baxter), all bridges synchronize by default and only allow one user to publish a given topic at the same time. Set the rosparam 'allow_multiple' to True in order to allow several computers to publish on the same topic.
The ROS 1 counterpart can be installed from this repository: https://github.com/CentraleNantesRobotics/baxter_legacy
Code & Tickets
Documentation http://sdk.rethinkrobotics.com/wiki
Issues https://github.com/RethinkRobotics/baxter_common/issues
Contributions http://sdk.rethinkrobotics.com/wiki/Contributions ————— ———————————————————–
baxter_common Repository Overview
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+-- baxter_common/ baxter_common metapackage
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+-- baxter_description/ urdf and meshes describing baxter
| +-- urdf/
| +-- meshes/
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+-- baxter_core_msgs/ messages and services for communication with baxter
| +-- msgs/
| +-- srvs/
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+-- baxter_maintenance_msgs/ messages for baxter maintenance routines
| +-- msgs/
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+-- rethink_ee_description/ urdf and meshes describing end effectors
| +-- urdf/
| +-- meshes/
Other Baxter Repositories
baxter https://github.com/RethinkRobotics/baxter
baxter_interface https://github.com/RethinkRobotics/baxter_interface
baxter_tools https://github.com/RethinkRobotics/baxter_tools
baxter_examples https://github.com/RethinkRobotics/baxter_examples ——————- ——————————————————-