The latest version of the SDK is v1.2.0.
Robot Software Version
NOTE: If asked what "version" you're running, this is probably the one we mean. It is convenient to report the software version running on the robot when reporting a ticket.
1. cd to the sdk examples directory on the development workstation
$ cd ~/ros_ws
2. Run baxter.sh
3. Run rosparm to get the software version
$ rosparam get /rethink/software_version
In this case, the version would be "v1.2.0". (The 57 is the number of builds prior to this release).
Workstation SDK Software Version
You should make sure your Developer Workstation is installed with and running a compatible version of the SDK software from the github repository. The version number corresponds to the git 'tag' you checked out.
There are two ways to check this:
1. Look at version listed at the top of the
CHANGES.md file in the ~/ros_ws/src/baxter directory.
2. Look for the "closest" tag in your git checkout:
$ cd ~/ros_ws/src $ cd baxter # OR 'cd baxter_common' OR 'baxter_examples' OR 'baxter_inteface' OR 'baxter_tools' $ git describe v0.7.0-g01afa20
In this case, the version would be "v0.7.0".
Gripper Firmware Version
The Electric Grippers need to be on the same version as the Robot Software. If attached during a Robot Software Update, the Gripper Firmware will be updated automatically as part of the process. Otherwise, you can always update or check the firmware version through the FSM Tests in the Field Service Menu (FSM).
You can also check the version of your grippers from the command line on your workstation.
- From an RSDK Shell run (for
$ rostopic echo /robot/end_effector/left_gripper/properties
- Example response:
id: 65538 ui_type: 2 manufacturer: Rethink Robotics, Inc. product: Electric Parallel Gripper serial_number: 4166823565 firmware_rev: 0.7.0 4.0 firmware_date: 2013/11/20 13:16:00 controls_grip: True senses_grip: True reverses_grip: True controls_force: True senses_force: True controls_position: True senses_position: True properties: '' ---
- Look for the value in the
firmware_revfield. For this example we see the firmware version is 0.7.0.
firmware_rev: 0.7.0 4.0
- If this number does not match your Robot Software version (higher or lower), it is very important you update the Gripper Firmware in the Field Service Menu (FSM) right away. Mismatched firmware can cause gripper jamming and errors.
Updating Gripper Firmware
There is a simple utility built into the FSM. Simply reboot into the FSM, select Tests from the main menu, and then select the Update_End_Effector_firmware option from the Tests menu.