Goal

This project is about Baxter control based on ROS(python). Baxter can use its hand to pick up the box which is in the middle of the map, and then put it into a certain place.

My job

1). Calculated the relationship of the real world coordinates and pixel coordinates of the Baxter camera

2). Coded 'arm control control node' of Baxter with 'ik solution' method and 'move_to_joint_positions' command to control its arm to desired positions. And coded control program of gripper.

3). Connected 'vision node' and 'arm control node' based on 'publisher' and 'subscriber' of ROS

4). Wrote the launch file