Baxter学习笔记3-示教演练篇

Terminal 1 – 连接机器人

in the baxter.sh's floder
检查本机IP，注意修改baxter.sh 内的 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 使能机器人
rosrun baxter_tools enable_robot -s 查看机器人状态

Terminal 2 – Record

rosrun baxter_examples joint_recorder.py -f 

Terminal 3 – Playback

rosrun baxter_interface joint_trajectory_action_server.py --mode velocity

rosrun baxter_examples joint_trajectory_file_playback.py -f 
or 
rosrun baxter_examples joint_position_file_playback.py -f