Connecting and Testing the Development Workstation

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Prerequisites

  • The RSDK software has been installed on to your Development Workstation - instructions here.
  • The Baxter Research Robot has been set up in its workspace and any purchased accessories have been installed - instructions here.
  • Additional Hardware Required:
  • 1 Ethernet switch
  • 2 Ethernet cables

Outcome of this step

  • User can ping Baxter from a connected Development Workstation - validating network connectivity
  • User can execute this command from a connected Development Workstation - validating that ROS messages work across the network connection
  $  rostopic echo /rosout
  • You have setup your Baxter, your Development Workstation, and connected your whole system. You are now ready to run the robot using a sample program.

Steps for Connecting to Baxter

  • Physically connect Baxter to the Development Workstation
  • Connect power to the ethernet switch
  • Connect Baxter to a port on the ethernet switch with an ethernet cable
  • Connect the Development Machine to the ethernet switch with a second ethernet cable
   Additional network setup details can be found here
  • Set up the base ROS environment
# ROS Indigo
$ source /opt/ros/indigo/setup.bash

Substitute your ROS distribution for indigo if necessary.

  • Find the IP address of the robot. See the Networking page for details.
   Possible Options:
  • (Optional) Add the IP address of the robot (refered to as the <Baxter IP Address> on this page) to the /etc/hosts file on the Development Workstation.
  • Ping the robot from the development workstation to check for connectivity.
  $ ping <Baxter IP Address>
  • Set the ROS_MASTER_URI environment variable
  $ export ROS_MASTER_URI=http://<Baxter IP Address>:11311
  • List rostopics using the rostopic command
  $ rostopic list
  • Show output on /rosout topic
  $ rostopic echo /rosout

Next Steps

Running Example Research SDK Programs