https://baxterkitchen.weebly.com
Baxter kitchen assistant is aimed at helping users with simple kitchen chores such as cleaning dishes and preparing ingredients for cooking. The robot receives user commands in the form of a text file, creates a list of tasks such as chopping vegetables and cleaning dishes, and completes them in an optimized sequence.
calibrate.launch: Moves Baxter arms to predefined locations. This should be run before placing the calibration bar on the table.
vision.launch: Launches the camera feed and ar_track_alvar processing.
vision_cory.launch: Same thing as vision.launch, but for use in Cory lab.
full_run.launch: Starts the main program, nodes, and action servers. Performs the list of tasks.
high_level_task_planner.py: Parses recipe.txt and issues task requests.
motion_organizer.py: Receives task request and formulates a sequence of action requests.
object_identifier.py: Determines object positions and publishes to the inventory topic.
pick_server.py: Action server for picking up an object at the specified location.
place_server.py: Action server for placing an object at the specified location.
move_server.py: Action server for moving the gripper to the specified location.
cut_server.py: Action server for performing the cutting motion.
scrub_server.py: Action server for performing the scrubbing motion.
untuck_server.py: Action server for resetting the arms.
naval_frame.py: TF Broadcaster that aligns the calibration bar with the Baxter base frame.
motion_calibrator.py: Issues action requests to move both arms to the calibration position.
All bundle definition for each object are placed in ar_track_alvar/bundles.