Joint Position Keyboard Example

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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.

Code Walkthrough

Joint Position Keyboard - Code Walkthrough


Verify that the robot is enabled from an RSDK terminal session, ex:

$ rosrun baxter_tools -e

Start the joint position keyboard example program, ex:

$ rosrun baxter_examples

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:

Joint description.png

Pressing the  ? 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 the -h, help argument:

$ rosrun baxter_examples -h
usage: [-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.


Please visit our Troubleshooting Section