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This page contains a list of Tutorials you can use to access the basic functionality of the SDK layer of Intera

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:

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 ROS Client Libraries such as rospy (Python) or roscpp (C++).

  • 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 baxter_interface 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 Overview
    Gives a basic introduction to each class and component in the Python interface library 'baxter_interface'.
  • Code API
    View the generated Python Code API docs for the baxter_interface module.

Robot Hardware Foundations

To learn more about what sensors and motors are on the robot and how to use them, see:

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.

Running Examples

Running Examples Overview

  • Display Image Example
  • Gripper Example
  • Gripper Cuff Control Example
  • Head Movement Example
  • Head Action Client Example
  • IK Service Example
  • Input Output Example
  • Joint Position Example
  • Joint Torque Springs Example
  • Joint Trajectory Playback Example
  • Simple Joint Trajectory Example

Using MoveIt!

MoveIt! Tutorial

Using Gazebo

Gazebo Tutorial