Terminal 1 – 連接機器人
in the baxter.sh's floder
檢查本機IP，注意修改baxter.sh 內的 your_ip
./baxter.sh or run 'baxter' in the terminal --> see detail in the ~/.bashrc
Bacause For convenience，I add some code in the ~/.bashrc
alias baxter="cd ~/catkin_ws && ./baxter.sh"
rosrun baxter_tools enable_robot -e 使能機器人
rosrun baxter_tools enable_robot -s 查看機器人狀態
Terminal 2 – Record
rosrun baxter_examples joint_recorder.py -f <example_file>
Terminal 3 – Playback
rosrun baxter_interface joint_trajectory_action_server.py --mode velocity
rosrun baxter_examples joint_trajectory_file_playback.py -f <example_file>
or
rosrun baxter_examples joint_position_file_playback.py -f <example_file>
