The joint position keyboard example demonstrates basic joint position control. Each key of your development PC is mapped to either increasing or decreasing the angles of a particular joint on Baxter's arms. Each arm is represented by one side of the keyboard with corresponding increase/decrease joint key pairings within the rows.
Verify that the robot is enabled from an RSDK terminal session, ex:
$ rosrun baxter_tools enable_robot.py -e
Start the joint position keyboard example program, ex:
$ rosrun baxter_examples joint_position_keyboard.py
Upon startup, you will be prompted with the following:
Initializing node... Getting robot state... Enabling robot... [INFO] [WallTime: 1399575163.891211] Robot Enabled Controlling joints. Press ? for help, Esc to quit.
Useful reminder of the joint name mapping:
? key will print the key->joint mapping:
Important Arguments: N/A
See the joint position keyboard's available arguments on the command line by passing joint_position_keyboard.py the
-h, help argument:
$ rosrun baxter_examples joint_position_keyboard.py -h
usage: joint_position_keyboard.py [-h] RSDK Joint Position Example: Keyboard Control Use your dev machine's keyboard to control joint positions. Each key corresponds to increasing or decreasing the angle of a joint on one of Baxter's arms. Each arm is represented by one side of the keyboard and inner/outer key pairings on each row for each joint. optional arguments: -h, --help show this help message and exit See help inside the example with the '?' key for key bindings.
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