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<span style="font-size:120%;">'''This page contains a list of Tutorials you can use to access the basic functionality of the SDK layer of Intera'''</span>
 
<span style="font-size:120%;">'''This page contains a list of Tutorials you can use to access the basic functionality of the SDK layer of Intera'''</span>
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== Writing Programs ==
 
At the core of the SDK are the interfaces provided to control and access all of the Baxter Research Robot's motors and sensors.  These sections describe the hardware components of the robot and the foundation API layers upon which the SDK - and your programs - are built. These sections describe the ''Components of the Robot'', and the ''Interfaces'' to control them.
 
 
=== SDK Foundations (Interfaces) ===
 
 
The SDK provides interfaces that control the robot hardware layer via the Robot Operating System (ROS) to any other computers on the robot's network.  By using the ROS network layer API, any client library or program that can "speak ROS" can control the robot directly.  For a deeper understanding of the SDK System architecture see:
 
* [[SDK System Overview|SDK System Overview]]
 
 
By using the foundation ROS interface layer, the robot can be controlled and programmed in any Programming Language that supports ROS.  This has led to a number of user-created interface libraries in different languages.  In addition, the Python Baxter Interface provides a Python Class-based interface library, which wraps many of the ROS interfaces in Python Classes.
 
 
=== ROS Interface ===
 
The ROS Interface is the foundation upon which all interaction with the Baxter Research Robot passes through and all other interface layers are built upon.  The ROS layer is accessible over the network via any of the standard [http://wiki.ros.org/Client%20Libraries ROS Client Libraries] such as [http://wiki.ros.org/rospy rospy (Python)] or [http://wiki.ros.org/roscpp roscpp (C++)].
 
 
*; [[API Reference|ROS API Reference]]
 
*: The ROS API describes the base interface layer for direct access from the command line or any language.
 
 
=== Python Interface ===
 
The Baxter SDK also offers a Python API via the <code>baxter_interface</code> module.  This module wraps the ROS Interfaces in component-based Python Classes.  The SDK Examples are written using this library in order to demonstrate how to use the robot interfaces.
 
*; [[Robot Interface|Robot Interface Overview]]
 
*: Gives a basic introduction to each class and component in the Python interface library 'baxter_interface'.
 
 
*; [http://api.rethinkrobotics.com Code API]
 
*: View the generated Python Code API docs for the baxter_interface module.
 
 
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== Robot Hardware Foundations ==
 
 
To learn more about what sensors and motors are on the robot and how to use them, see:
 
* [[Hardware Components|Sawyer Components]]
 
When you have run through the Installation procedures and you've established communication with your robot, it is time to start getting familiar with the SDK interface.  This page will walk you through the basics of using the SDK.
 
 
 
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*Display Image Example
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=== Examples ===
*Gripper Example
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*Gripper Cuff Control Example
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*[[Camera Image Display Example]]
*Head Movement Example
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*[[Gripper Example]]
*Head Action Client Example
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*[[Gripper Cuff Control Example]]
*IK Service Example
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*[[Head Display Image Example|Head Display Image Example]]
*Input Output Example
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*[[Head Movement Example]]
*Joint Position Example
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*[[IK Service Example]]
*Joint Torque Springs Example
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*[[Lights Blinking Example|Lights Blinking Example]]
*Joint Trajectory Playback Example
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*[[Joint Position Example]]
*Simple Joint Trajectory Example
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*[[Joint Position Waypoint Example]]
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*[[Joint Torque Springs Example]]
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*[[Joint Trajectory Playback Example]]
 
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== Using MoveIt! ==
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== Tutorials ==
  
MoveIt! Tutorial
 
  
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== Using Gazebo ==
 
  
Gazebo Tutorial
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*[[MoveIt Tutorial]]
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*[[Interaction Control Tutorial]]
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*[[Motion Interface Tutorial]]
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*[[Gazebo Tutorial]]
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Latest revision as of 22:57, 1 February 2018