davetcoleman / baxter_cpp

Additional Baxter packages for MoveIt, written entirely in C++

Baxter_cpp

A C++ version of the Baxter SDK that works along side the Rethink SDK. Is inteded to be used with a ros_control implementation of the Baxter controllers that is run on the robot (via SSH).

Contains pick and place MoveIt! code for Baxter, as well as some other tools.

On going development continues in the development branch and contributors are strongly encouraged to send pull requests and use this code. Seriously, please help me improve this code. Attempts are made to keep the indigo-devel branch stable, but at the end of the day I am an open source graduate student contributor ;-)

Features

• Actuated fingers using a custom robot state publisher and URDF
• Baxter ros_control integration on Baxter's internal PC using baxter_ssh
• Baxter pick and place with MoveIt!
  • Generate grasps for blocks on a table
  • Execute a pick and place routine
  • Works on hardware and in an Rviz visualization
  • Other tools for testing trajectories
• Integrated Asus Xtion Pro depth sensor (Kinect sensor)
  • Displays in MoveIt!

Prerequisites

• A Baxter with dual parallel electric grippers with SDK v1.0.0 installed
• (Optional) Asus Xtion Pro Camera
• ROS Indigo on Ubuntu 14.04

Baxter Installation

• Install wstool package

  sudo apt-get install python-wstool
  

• Create a catkin workspace if you don't already have one (we recommend a separate one for Baxter)

  mkdir -p ~/ros/ws_baxter/src
  cd ~/ros/ws_baxter/src
  wstool init .
  

• Install Rethink's Baxter SDK as documented below, if you have not already. Note: These instructions can also be found at Installing the Research SDK

  wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/master/baxter_sdk.rosinstall
  

• Install these baxter_cpp packages: Note: replaces Rethink's baxter_common with a version that has parallel electric end effectors modeled

  wstool merge --merge-replace -y https://raw.github.com/davetcoleman/baxter_cpp/indigo-devel/baxter_cpp/baxter.rosinstall
  

• Install ros_control and other low-level components internall on Baxter using the new SSH access:

  Follow instructions on README of baxter_ssh repo

• Download the Baxter packages:

  wstool update
  

• Setup ROS if you haven't already (you can probably skip this):

  sudo apt-get update
  sudo apt-get dist-upgrade
  source /opt/ros/indigo/setup.bash
  rosdep update
  

• Install dependencies and build

  cd ..
  rosdep install --from-paths . --ignore-src --rosdistro indigo -y
  catkin_make
  

• Add Baxter setup.bash to your .bashrc (recommended)

  echo 'source ~/ros/ws_baxter/devel/setup.bash' >> ~/.bashrc
  

Customize for your robot

Every Baxter is factory calibrated for the mouting points of the arms because they are welded on. Therefore, you might want to customize the baxter_description/urdf/baxter.urdf file to your robot's custom values. To do so:

• Start up your Baxter without launching any ROS nodes on your dev machine
• While connected to Baxter, run the command:

  rosparam get -p /robot_description | tail -n +2 > my.baxter.urdf
  

• Within my.baxter.urdf find the lines that say:

  <joint name="left_torso_arm_mount" type="fixed">
  

  and

  <joint name="right_torso_arm_mount" type="fixed">
  

• Copy the following <origin> line to the corresponding location in baxter.urdf located in baxter_description/urdf/baxter.urdf

Bringup Baxter

Hardware

• Ensure you have the correct ROS_MASTER_URI exported, this depends on your robot serial number. CU Boulder's is:

  export ROS_MASTER_URI=http://011305P0009.local:11311
  

  You might also need to set the ROS hostname environment variable if you have not already done so and you have communication issues:

  export ROS_HOSTNAME=128.138.244.72  # REPLACE WITH YOUR COMPUTER'S IP ADDRESS
  

• Bringup ros_control controllers on Baxter

  Follow instructions on baxter_ssh

Rviz Visualization

This only shows a virtual Baxter in Rviz without any physics simulator. Instead it uses a ros_control hardware interface that simply loops back to itself. Good for testing MoveIt!.

• Ensure you have the correct ROS_MASTER_URI exported:

  export ROS_MASTER_URI=http://localhost:11311
  

• Start visualization:

  roslaunch baxter_control baxter_visualization.launch
  

  Note: you will not see anything when you launch this, only the /robot/joint_states topic starts being published. Proceed to the MoveIt! section, below.

Gazebo Simulation

This is still in beta. First install the baxter_gazebo stuff. I haven't documented this yet.

roslaunch baxter_gazebo baxter_world.launch

Start MoveIt!

Works with simulation, hardware or visualization:

• Start MoveIt!'s move_group Server:

  roslaunch baxter_moveit_config baxter_moveit.launch
  

• Start Rviz with MoveIt! configured:

  roslaunch baxter_moveit_config moveit_rviz.launch
  

Block pick and place demo

Picks small blocks located on a table in front of Baxter and places them to Baxter's left. Assumes perfect perception (doesn't have perception) as defined in custom_environment.h.

roslaunch baxter_pick_place block_pick_place.launch

Hardware Control Modes

Follow instructions on README of baxter_ssh repo

Test Programs

Send Baxter to random poses using motion planning and obstacle avoidance of a hard-coded planning scene

roslaunch baxter_pick_place random_planning.launch

Programmed Buttons

Duplicated from README of baxter_ssh

End Effector Cuff

• Rectangular button: close end effector
• Circular button: open end effector

Back of Robot Shoulders

• Left shoulder button: enable Baxter
• Right shoulder button: disable Baxter

License

BSD (New BSD License)

Contributors

• @davetcoleman
• @brawner
• @jon-weisz

Please help - see Contribute page.

baxter_cpp's Issues

random planning not working in simulation

roslaunch baxter_pick_place random_planning.launch

Simulating pick and place in Gazebo

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.

Could not find a package configuration file provided by "baxter_control"

Hi,

While running catkin_make to build the baxter_cpp (indigo-devel) packages, there is an error:

Could not find a package configuration file provided by "baxter_control".

baxter_control is not a package in the baxter SDK. How can I fix this?

Thanks a lot!

Problem building for groovy

CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package pcl_conversions.

Set pcl_conversions_DIR to the directory containing a CMake configuration
file for pcl_conversions. The file will have one of the following names:

pcl_conversionsConfig.cmake
pcl_conversions-config.cmake

Call Stack (most recent call first):
baxter/gazebo_ros_pkgs/gazebo_plugins/CMakeLists.txt:4 (find_package)

CMake Error at /home/benjamin/catkin_ws/devel/share/gazebo_plugins/cmake/gazebo_pluginsConfig.cmake:154 (find_package):
Could not find module Findpcl_conversions.cmake or a configuration file for
package pcl_conversions.

Adjust CMAKE_MODULE_PATH to find Findpcl_conversions.cmake or set
pcl_conversions_DIR to the directory containing a CMake configuration file
for pcl_conversions. The file will have one of the following names:

pcl_conversionsConfig.cmake
pcl_conversions-config.cmake

Call Stack (most recent call first):
/home/benjamin/catkin_ws/devel/share/gazebo_ros/cmake/gazebo_rosConfig.cmake:154 (find_package)
/opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
baxter/gazebo_ros_pkgs/gazebo_ros_control/CMakeLists.txt:5 (find_package)

-- +++ processing catkin package: 'baxter_gazebo'
-- ==> add_subdirectory(baxter/baxter_gazebo)
CMake Error at /home/benjamin/catkin_ws/devel/share/gazebo_plugins/cmake/gazebo_pluginsConfig.cmake:154 (find_package):
Could not find module Findpcl_conversions.cmake or a configuration file for
package pcl_conversions.

Adjust CMAKE_MODULE_PATH to find Findpcl_conversions.cmake or set
pcl_conversions_DIR to the directory containing a CMake configuration file
for pcl_conversions. The file will have one of the following names:

pcl_conversionsConfig.cmake
pcl_conversions-config.cmake

Call Stack (most recent call first):
/home/benjamin/catkin_ws/devel/share/gazebo_ros/cmake/gazebo_rosConfig.cmake:154 (find_package)
/opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package)
baxter/baxter_gazebo/CMakeLists.txt:4 (find_package)

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies

Hello ,
I am trying to download the Additional Baxter packages for MoveIt, written entirely in C++ (pick and place tutorial) , I stuck with this error could you please update me how to fix it ?

https://github.com/davetcoleman/baxter_cpp

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
baxter_moveit_scripts: Cannot locate rosdep definition for [baxter_control]
baxter_pick_place: Cannot locate rosdep definition for [baxter_control]

Regards
Thanks in advanced
Hamied ELSHAIKHI

Gripper in simulation

ERROR ros.baxter_gripper_server.right: No object detected in end effector
ERROR ros.baxter_gripper_server.right: Failed to complete end effector command

Regarding IKFast plugin for Baxter!

I am facing a few problems while trying to implement the IKFast plugins for RVIZ that I downloaded from

https://github.com/davetcoleman/baxter/tree/groovy-devel/baxter_ikfast_right_arm_plugin

The errors that I am getting while trying to launch the IKFast solver in RVIZ are -

[FATAL] [1380149689.722033938]: Joint numbers mismatch: URDF has 7 and IKFast has 6
[ERROR] [1380149689.722165903]: Kinematics solver of type 'baxter_right_arm_kinematics/IKFastKinematicsPlugin' could not be initialized for group 'right_arm'

I downloaded the code, built the IK solver package, changed the kinematics.yaml for baxter to use the IKFast plugin for the right arm and this is what cropped up. Are there any other parameters that need to be specified?

Problem building for hydro

I followed the instructions and executed the commands

mkdir -p ~/ros/ws_moveit/src
cd ~/ros/ws_moveit/src
wstool init .
wstool merge https://raw.github.com/davetcoleman/baxter_cpp/hydro-devel/moveit.rosinstall
wstool update
cd ..
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
catkin_make

Hoever catkin_make fails with the following errors. I have gcc 4.6.3.

/home/benjamin/ros/ws_hydro/src/moveit_ros/perception/semantic_world/src/semantic_world.cpp:479:5: error: ‘object_recognition_msgs::Table_std::allocator::_pose_type’ has no member named ‘pose’
In file included from /usr/include/boost/variant.hpp:17:0,
from /opt/ros/hydro/include/geometric_shapes/shape_messages.h:43,
from /opt/ros/hydro/include/geometric_shapes/shape_operations.h:41,
from /home/benjamin/ros/ws_hydro/src/moveit_ros/perception/semantic_world/src/semantic_world.cpp:43:

...
/usr/include/boost/variant/detail/initializer.hpp:89:24: note: no known conversion for argument 2 from ‘std::vector<geometry_msgs::Point_<std::allocator >, std::allocator<geometry_msgs::Point_<std::allocator > > >’ to ‘const shape_msgs::Mesh_std::allocator&’
make[2]: *** [moveit_ros/perception/semantic_world/CMakeFiles/moveit_semantic_world.dir/src/semantic_world.cpp.o] Error 1
make[1]: *** [moveit_ros/perception/semantic_world/CMakeFiles/moveit_semantic_world.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX shared library /home/benjamin/ros/ws_hydro/devel/lib/libmoveit_simple_controller_manager.so
[ 56%] Built target moveit_simple_controller_manager
make: *** [all] Error 2

Failure to plan trajectory in MoveIt!

When I run the MoveIt to plan trajectory for Baxter using roslaunch baxter_moveit_config moveit_rviz.launch, I use a current start position and a random end position. I click on Plan and it says planning failed. The error on terminal says :[ WARN] [1401372245.067914854]: Fail: ABORTED: No motion plan found. No execution attempted.

Any suggestions on how to fix this ?

Problem using roslaunch baxter_pick_place random_planning.launch

I see the following error when i use the above launch file.

viki@c3po:~/dev/ws_baxter$ roslaunch baxter_pick_place random_planning.launch
... logging to /home/viki/.ros/log/8d1a9c8e-e738-11e3-a46c-080027b3edc7/roslaunch-c3po-13080.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://c3po:37238/

SUMMARY

PARAMETERS

• /baxter_random_planning/left_arm/kinematics_solver
• /baxter_random_planning/left_arm/kinematics_solver_attempts
• /baxter_random_planning/left_arm/kinematics_solver_search_resolution
• /baxter_random_planning/left_arm/kinematics_solver_timeout
• /baxter_random_planning/right_arm/kinematics_solver
• /baxter_random_planning/right_arm/kinematics_solver_attempts
• /baxter_random_planning/right_arm/kinematics_solver_search_resolution
• /baxter_random_planning/right_arm/kinematics_solver_timeout
• /rosdistro
• /rosversion

NODES
/
baxter_random_planning (baxter_pick_place/random_planning)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[baxter_random_planning-1]: started with pid [13098]
[ INFO] [1401373727.013443237]: Loading Baxter utilities
[ERROR] [1401373727.053446924]: Grasp configuration parameter base_link missing from rosparam server. Did you load your end effector's configuration yaml file? Searching in namespace: /right
terminate called after throwing an instance of 'std::runtime_error'
what(): ROS does not seem to be running
[baxter_random_planning-1] process has died [pid 13098, exit code -6, cmd /home/viki/dev/ws_baxter/devel/lib/baxter_pick_place/random_planning __name:=baxter_random_planning __log:=/home/viki/.ros/log/8d1a9c8e-e738-11e3-a46c-080027b3edc7/baxter_random_planning-1.log].
log file: /home/viki/.ros/log/8d1a9c8e-e738-11e3-a46c-080027b3edc7/baxter_random_planning-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Unhandled exception in thread started by
sys.excepthook is missing
lost sys.stderr

Any suggestions on how to fix this ?

Problem whit block pick and place demo

Hi Dave

I installed ubuntu 12.04 (64 bits) ros, moveit and i followed the instructions for baxter_cpp but i have a problem when i try execute Block pic and place demo, This appears in the screen:

started roslaunch server http://ollinkan:58861/

SUMMARY

PARAMETERS

• /baxter_block_pick_place/left_arm/kinematics_solver
• /baxter_block_pick_place/left_arm/kinematics_solver_attempts
• /baxter_block_pick_place/left_arm/kinematics_solver_search_resolution
• /baxter_block_pick_place/left_arm/kinematics_solver_timeout
• /baxter_block_pick_place/right_arm/kinematics_solver
• /baxter_block_pick_place/right_arm/kinematics_solver_attempts
• /baxter_block_pick_place/right_arm/kinematics_solver_search_resolution
• /baxter_block_pick_place/right_arm/kinematics_solver_timeout
• /rosdistro
• /rosversion

NODES
/
baxter_block_pick_place (baxter_pick_place/block_pick_place)

auto-starting new master
process[master]: started with pid [5301]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to dc7545e2-c161-11e3-9332-00238bd2f33e
process[rosout-1]: started with pid [5314]
started core service [/rosout]
process[baxter_block_pick_place-2]: started with pid [5330]
[FATAL] [1397211183.783831149]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
what(): Unable to construct robot model. Please make sure all needed information is on the parameter server.
[baxter_block_pick_place-2] process has died [pid 5330, exit code -6, cmd /home/ollinkan/ros/baxter_ws/devel/lib/baxter_pick_place/block_pick_place /joint_states:=/robot/joint_states __name:=baxter_block_pick_place __log:=/home/ollinkan/.ros/log/dc7545e2-c161-11e3-9332-00238bd2f33e/baxter_block_pick_place-2.log].
log file: /home/ollinkan/.ros/log/dc7545e2-c161-11e3-9332-00238bd2f33e/baxter_block_pick_place-2*.log

I dont Know what happen, can you help me please..

Best regards

Actuated fingers with SDK 1.0

I've just re-made the URDF for Baxter with fingers, using the internal URDF that ships on the robot with SDK 1.0. I used their new kinematics layout, making as few modifications as necessary to restore actuated finger capabilities. You can find the new branch (not fully tested) here:
https://github.com/davetcoleman/baxter_common/tree/cu_robot_sdkv1_fingers

@brawner would you be interested in testing this and potentially adding back your reduced collision models for the fingers?

Error Building from Hydro

Followed hydro-devel instructions.

1. Already had a catkin workspace
2. Already had installed Rethink Baxter SDK 1.0
3. Ran wstool merge --merge-replace -y https://raw.github.com/davetcoleman/baxter_cpp/hydro-devel/baxter.rosinstall
4. Ran

wstool update
sudo apt-get update 
sudo apt-get upgrade-dist
source /opt/ros/hydro/setup.bash
rosdep update

1. Ran

cd ..
rosdep install --from-paths . --ignore-src --rosdistro hydro -y

Got an error indicating that I had multiple packages with the same name stemming from baxter_common. Resolved by placing a touch CATKIN_IGNORE' in the replacebaxter_common_###`.

Then, when running catkin_make multiple times I got the following error:

[ 95%] Built target baxter_hardware_interface
Linking CXX executable /home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/random_planning
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_test] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_test.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/get_joint_values] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/get_joint_values.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_visual_tools/visual_tools_test] Error 1
make[1]: *** [moveit_visual_tools/CMakeFiles/visual_tools_test.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_filter_test] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_filter_test.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/end_effector_position] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/end_effector_position.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_server] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_server.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
[ 95%] Built target baxter_hardware_interface
Linking CXX executable /home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/random_planning
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_test] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_test.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/get_joint_values] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/get_joint_values.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_visual_tools/visual_tools_test] Error 1
make[1]: *** [moveit_visual_tools/CMakeFiles/visual_tools_test.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_filter_test] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_filter_test.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/end_effector_position] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/end_effector_position.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/moveit_simple_grasps/moveit_simple_grasps_server] Error 1
make[1]: *** [moveit_simple_grasps/CMakeFiles/moveit_simple_grasps_server.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/block_pick_place] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/block_pick_place.dir/all] Error 2
/home/vmrguser/ros/hydro/rbx_ws/devel/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<moveit::core::RobotModel const> const&, boost::shared_ptr<collision_detection::World>)'
collect2: ld returned 1 exit status
make[2]: *** [/home/vmrguser/ros/hydro/baxter_ws/devel/lib/baxter_pick_place/random_planning] Error 1
make[1]: *** [baxter_cpp/baxter_pick_place/CMakeFiles/random_planning.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

Problem simulating Baxter in Gazebo/MoveIt

I have followed the installation instruction and when i use the command -->
roslaunch baxter_gazebo baxter_gazebo.launch

I get this error.
[baxter_gazebo.launch] is neither a launch file in package [baxter_gazebo] nor is [baxter_gazebo] a launch file name

I am not sure why I see this. Baxter_gazebo package and launch file are present in my src folder so I have no idea what could be done to rectify this error.
Please advise.

depend on baxter_control in baxter_moveit_config

compatibility issue with cv-bridge in 14.04/indigo

The indigo-devel branch seems to have a compatibility issue with cv_bridge's move to cv2, specifically in xdisplay_image.py.

always reset planning scene in all scripts

baxter.srdf

Looks like using the baxter.srdf in its current state has a collision between the hand and accelerometer in the urdf file. I added these lines to fix it, if you wanted to fix the issue.

<disable_collisions link1="right_hand" link2="right_hand_accelerometer" reason="Never" />
<disable_collisions link1="left_hand" link2="left_hand_accelerometer" reason="Never" />

Kind regards,

Chris