Tools

Below are tools useful during maintenance and operation of Baxter, and tools useful during programming and normal use - including a number of ROS tools handy for visualization and debugging.

• Robot Use & Operation
  • Operational
  • Maintenance
  • Robot Computer
• Programming
  • Visualization & Data
  • Debugging

Robot Use & Operation

Operational

• Enable Robot Example
• Tuck Arms Example

Maintenance

• Software
  • Software update
  • Software version
  • Core Dump Management
• Hardware
  • Tare - Light arm re-zeroing
  • Calibration - Deep arm re-calibration
  • Field Service Menu (FSM) - Embedded hardware tests

Robot Computer

• Robot Time - (NTP)
• Core Dump Management
• Field Service Menu (FSM) - Robot-computer configuration and Embedded hardware verification

Programming

Visualization & Data

• rviz - View robot sensors and data in a virtual environment
• image_view - Simple (camera) image viewer for camera topics
• rxplot - Plot ROS topics data on a simple graph (Numerical and boolean data)
• rxbag - Record, view, and playback ROS topics (Command-line reference)

Debugging

• rxconsole - Graphical viewer of ROS debug and console output topic, /rosout
• robot_monitor - Check the diagnostic state for the robot Hardware
• rxbag - Record, view, and playback ROS topics (Command-line reference)