ECN Baxter

This package is made on ROS 2. Its goal is to simplify the use of the Baxter robot for the robotics programming courses in Centrale Nantes.

This package was made by the student team Baxterminator :

• Geoffrey CÔTE: main maintainer (especially component-related nodes and game nodes)
• Timothée Corroëne: maintainer of the vision part

Robot effectors

This packages actually provide a node that simplify the use of the two grippers of the robot. It automates the calibration and the auto-release of the vacuum gripper.

This simplification use a new topic and a new message (ecn_baxter::msg::BaxterAction)

Topic : /baxter/action

#######################
# Message description #
#######################
string component
string action

The two values for the components are "left_gripper" and "right_gripper" and the two main action are "grip" and "release".

But before that, a node should be launched for each gripper, so to launch both grippers :

ros2 run ecn_baxter gripper_node --ros-arg -p gripper_side:=right
ros2 run ecn_baxter gripper_node --ros-arg -p gripper_side:=left

Game Competition

This package also aims to add basic nodes to create games.

The main node to use is the GameMaster. Its goal is to make enslave the bridges to allow two designated persons to publish from ROS2 at the time. It also adds basic functionality to show timers and points as well as initializing the games properties.