Overview

Install

1. Install ROS

This project requires Ubuntu 14.04 LTS to set up ROS Indigo:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get -y install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. Set up Hydra controller support

The Razer Hydra controller must be installed and configured:

sudo apt-get install ros-indigo-razer-hydra
roscd razer_hydra
sudo cp config/99-hydra-indigo.rules /etc/udev/rules.d/ 
sudo udevadm control --reload-rules

3. Test controller

Once Hydra controller support is configured, test it by plugging in a controller and running this command:

lsusb -d 1532:0300 && [ -e /dev/hydra ] && echo "Controller works" || echo "Controller failed"

4. Install Baxter

From your catkin workspace, run these commands:

sudo apt-get -y install git gazebo2 ros-indigo-qt-build ros-indigo-driver-common ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-control-toolbox ros-indigo-realtime-tools ros-indigo-ros-controllers ros-indigo-xacro python-wstool ros-indigo-tf-conversions ros-indigo-kdl-parser
mkdir -p src/
cd src/
wstool init .
wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter_simulator/master/baxter_simulator.rosinstall
wstool update
cd -
source /opt/ros/indigo/setup.bash
catkin_make

5. Sourcing environment variables

Next, append the generated setup.bash file to ~/.bashrc so ROS environment variables are loaded every time you open a terminal:

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
echo "${PWD}/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Also be sure that the roscore is set to the one in Baxter:

echo "export ROS_MASTER_URI=http://baxter.lan:11311" >> ~/.bashrc
source ~/.bashrc

6. Starting the controller

The controller should now be able to run over ROS:

roslaunch razer_hydra hydra.launch

7. Running the Hydra teleop program

Be sure that the base station is placed on a stable surface and positioned like in the reference manual.

When ready, run this:

python razer.py