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davetcoleman / baxter_cpp

Additional Baxter packages for MoveIt, written entirely in C++
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Simulating pick and place in Gazebo #18

Open skohlbr opened 10 years ago

skohlbr commented 10 years ago

Looking at the README and comment in #15, I realize that simulation currently is not maintained. I´d still like to take a shot at simulating pick and place in Gazebo and wanted to ask if pick and place has been supported using Gazebo before. I´m asking because the robot that spawns in Gazebo appears to not have fingers/grippers per default and I´d like to estimate how much effort it would be to make things work again.

davetcoleman commented 10 years ago

It worked before 0.7.0 came out for Baxter's firmware, with fingers. Since then I lots of things have changed. How much effort it would take depends on your experience level... for me an hour or two?

jon-weisz commented 10 years ago

If I wanted to fix this, which version of gazebo would be the preferred target? I find the current spread of gazebo packages bewildering.

davetcoleman commented 10 years ago

Use whichever Gazebo comes with your ROS release (indigo) by default. See: http://gazebosim.org/tutorials?tut=ros_wrapper_versions&cat=connect_ros

Have you looked into the Gazebo simulation that Rethink now provides for Baxter? I have not...

jon-weisz commented 10 years ago

@davetcoleman I'm not sure which one you are referring to. As best as I can tell, the one that is documented here http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator does not actually exist.

davetcoleman commented 10 years ago

I believe you have to request from your Rethink representatives access to the simulator repo code