Wobbler Example

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Joint Velocity Control


Use wobbler as an example of controlling Baxter using joint velocity control.

Code Walkthrough

Wobbler - Code Walkthrough


There are two modes of control for Baxter's arms, joint position and joint velocity control. This example 'wobbles' both arms by driving each joint's velocity according to a sinusoid around a neutral position. The example shows how to set velocity control mode and read joint states at 1000Hz


Start wobbler from an RSDK terminal session using:

$ rosrun baxter_examples joint_velocity_wobbler.py


Wobbler - Code Walkthrough


For common issues specific to using wobbler with Baxter, check out the Troubleshooting page.