In the Installing Baxter SDK software section, we loaded the workstation computer SDK software used to control Baxter. This control can be either through the baxter_example programs described previously, through Python scripts, or using the command line. To control the real Baxter, the baxter.sh script is used to set up the environmental variables for configuring the network for Baxter. Ensure that you have completed the Configuring Baxter shell section before continuing.

The Baxter Research Robot can be configured to communicate with a development workstation computer over various network configurations. An Ethernet network or a wireless network can be established between Baxter and the workstation computer for bi-directional communication. For full descriptions of the various network configurations for Baxter and the workstation, refer to the Rethink wiki at http://sdk.rethinkrobotics.com/wiki/Networking.

To communicate with Baxter, the baxter.sh script must be edited (again) to modify the baxter_hostname variable. The default for baxter_hostname is the robot's serial number, located on the back of the robot, next to the power button. An alternative method is to assign a new robot hostname using the Field Service Menu (FSM), accessed by plugging a USB keyboard into the back of Baxter. Refer to the Rethink wiki for more details (http://sdk.rethinkrobotics.com/wiki/Field_Service_Menu_(FSM)).

Using Baxter's serial number or assigned hostname within the baxter.sh script, find and edit the following line:

baxter_hostname="baxter_hostname.local"

Next, verify that either the your_ip variable or the your_hostname variable is set to specify the IP address or hostname of your workstation computer. The IP address should be the one assigned for the network connection. (When using the $ ifconfig command, this would be the IP address associated with the inet addr field.) The hostname must be resolvable by Baxter to identify the workstation computer hostname.

If there is any doubt, use the ping <IP address> or ping <hostname> command to verify that the network communication is working.

Find and modify one of the following variables inside the baxter.sh script:

your_ip="192.168.XXX.XXX"
your_hostname="my_computer.local"

Do not use both of these variables; otherwise your_hostname will take precedence. The unused variable should be commented out with a # symbol. Save your changes to baxter.sh.

To verify the ROS environment setup for Baxter, it is wise to run the baxter.sh script and verify the ROS variables. To do so, use the following commands:

$ cd ~/baxter_ws
$ ./baxter.sh
$ env | grep ROS

Check whether these important fields are set with the correct information:

Again, a cheat sheet for use with the real Baxter is provided for you to use with the example programs that follow. The commands for communicating, enabling, and untucking are provided here for your reference:

$ cd ~/baxter_ws
$ ./baxter.sh

$ cd ~/baxter_ws
$ ./baxter.sh

$ rosrun baxter_tools enable_robot.py –e
$ rosrun baxter_tools tuck_arms.py -u

If there are issues with Baxter's hardware, software, or network, refer to the general Baxter troubleshooting website at http://sdk.rethinkrobotics.com/wiki/Troubleshooting.

If there are problems with the workstation computer setup, refer to the Rethink wiki site at http://sdk.rethinkrobotics.com/wiki/Workstation_Setup.