To properly install and configure baxter-bon-appetit functionalities, you must follow these steps:
The Workstation setup is a guide to install all the Baxter software dependencies and development configurations that are required for working with this robot.
To clone baxter-bon-appetit repository, you can follow these commands:
cd /tmp
git clone https://github.com/san99tiago/baxter-bon-appetit.gitTo include these scripts and programs in the ROS workspace directory (ros_ws), you can execute the following commands:
cp -r /tmp/baxter-bon-appetit/python/baxter_bon_appetit /home/<user>/ros_ws/src- Important remark: change <user> to the user of your machine.
To compile ROS workspace (including the recently added baxter-bon-appetit functionalities), you can run:
cd /home/<user>/ros_ws
catkin_make- Important remark: change <user> to the user of your machine.
To install face-detection-haar-cascade library, please follow the steps shown in FDHC README.
As Ubuntu 14.04 is an "old" Linux distribution, you can follow a series of special steps to install this module:
It is possible that some of the previous have additional python dependencies. It is crucial to have them installed in case of any dependency error. For example:
pip install <python-dependency>Baxter Bon Appetit repository has multiple important files. In this tree-wise diagram, the most important directories are going to be explained and shown as a general overview of the project.
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├── LICENSE
├── README.md # Principal README.md
├── assets
├── guide_to_replicate_in_other_robots.md # Guide to use functionalities in other robots
├── matlab # Scripts for mathematical models and analysis (not necessary for implementation)
│ ├── BaxterClass.m
│ ├── BaxterFunctions.m
│ ├── BaxterJacobian.m
│ ├── Baxter_Jacobian_7dof.m
│ ├── Baxter_Simulation.m
│ ├── Baxter_Workspace.fig
│ ├── Baxter_Workspace.m
│ ├── Baxter_Workspace_DT.fig
│ ├── DirectCinematic.m
│ ├── Exe_Sim_Baxter.m
│ ├── FPK.m
│ ├── IPK.m
│ ├── IPK_7dof.m
│ ├── OrientationAngles.m
│ ├── Puntos_Simulacion.m
│ ├── README.md
│ ├── RotationMatrix.m
│ ├── RotationMatrixExpand.m
│ ├── TransformationMatrix.m
│ ├── Trayectoria_5_orden.m
│ ├── assets
│ ├── baxter_calibration_measurements.m
│ └── baxter_jacobian_calculation.m
├── python # Main functionalities for the development of the feeding-robot-application
│ ├── baxter_bon_appetit # Python scripts to run Baxter Bon Apptit
│ │ ├── CMakeLists.txt # Dependencies for low-level C libraries
│ │ ├── README.md
│ │ ├── assets
│ │ ├── cfg # Only usefull for impedance-control tests
│ │ │ └── JointSpringsBonAppetit.cfg
│ │ ├── launch # Enables the execution of multiple ROS nodes
│ │ │ ├── fake_mpc_impedance_control_nodes.launch
│ │ │ ├── fake_mpc_position_control_nodes.launch
│ │ │ ├── fake_ol_position_control_nodes.launch
│ │ │ ├── mpc_impedance_control_nodes.launch
│ │ │ ├── mpc_position_control_nodes.launch
│ │ │ └── ol_position_control_nodes copy.launch
│ │ ├── package.xml # Manage dependencies and important project's information
│ │ ├── samples # Scripts to validate specific Baxter Bon Appetit functionalities
│ │ │ ├── sample_cartesian_increments.py
│ │ │ ├── sample_control_loop.py
│ │ │ └── sample_get_baxter_camera_point.py
│ │ ├── scripts # Most important functionalities for Baxter Bon Appetit
│ │ │ ├── face_detection_limb_cam.py
│ │ │ ├── gui_assets
│ │ │ ├── map_workspace.py
│ │ │ ├── node_fsm.py
│ │ │ ├── node_go_to_home.py
│ │ │ ├── node_gui.py # *** ENTRY LEVEL TO MAIN GUI OF THE PROJECT ***
│ │ │ ├── node_impedance_control.py
│ │ │ ├── node_joint_position_control.py
│ │ │ ├── node_mpc_control_trajectory.py
│ │ │ ├── node_open_loop_control_trajectory.py
│ │ │ ├── node_pick_up_food.py
│ │ │ ├── node_publish_face_coordinates.py
│ │ │ ├── node_publish_fake_face_coordinates.py
│ │ │ ├── node_save_data.py
│ │ │ ├── recordings # Allows Baxter to replicate recorded movements
│ │ │ │ ├── blessing.csv
│ │ │ │ └── pick_up_food.csv
│ │ │ └── set_cartesian_position_ipk.py
│ │ ├── setup.py # Enables the project packaging with its dependencies
│ │ └── src # Mandatory scripts that build up Baxter complex solutions
│ │ ├── __init__.py
│ │ ├── baxter_bon_appetit.egg-info
│ │ ├── baxter_control # MPC control algorithms
│ │ │ ├── __init__.py
│ │ │ ├── cartesian_increment.py
│ │ │ └── mpc_controller.py
│ │ ├── baxter_essentials # Main robotic transforms for mathematical models
│ │ │ ├── __init__.py
│ │ │ ├── baxter_class.py
│ │ │ ├── baxter_fpk.py
│ │ │ ├── baxter_ipk.py
│ │ │ ├── baxter_jacobian.py
│ │ │ ├── denavit_hartenberg.py
│ │ │ └── transformation.py
│ │ └── baxter_vision_mapping # Enables the transformations from the camera to the user
│ │ ├── __init__.py
│ │ ├── baxter_camera_complete_transform.py
│ │ └── baxter_camera_transform_tool_to_face.py
│ └── computer_vision # Python scripts for face detection algorithms
│ ├── assets
│ ├── face_detect_face_recognition # Alternative for face detection algorithm
│ │ ├── LICENSE
│ │ ├── README.md
│ │ ├── requirements.txt
│ │ ├── samples
│ │ │ ├── __init__.py
│ │ │ ├── get_assets_folder.py
│ │ │ ├── sample_depencies.py
│ │ │ ├── sample_image_basics.py
│ │ │ ├── sample_image_time.py
│ │ │ ├── sample_video_correct_frames.py
│ │ │ ├── sample_video_device_camera.py
│ │ │ ├── sample_video_general_purpose.py
│ │ │ └── sample_video_resources.py
│ │ ├── setup.py
│ │ ├── src
│ │ │ ├── __init__.py
│ │ │ ├── face_detect_fr.py
│ │ │ └── fdfr.egg-info
│ │ └── tests
│ │ ├── get_assets_folder.py
│ │ ├── test_open_image_fr.py
│ │ └── test_process_image_fr.py
│ └── face_detect_haar_cascade # Main face detection algorithm (recommended)
│ ├── LICENSE
│ ├── README.md
│ ├── samples
│ │ ├── __init__.py
│ │ ├── get_assets_folder.py
│ │ ├── sample_depencies.py
│ │ ├── sample_image_basics.py
│ │ ├── sample_image_time.py
│ │ ├── sample_process_multiple_photos.py
│ │ ├── sample_video_correct_frames.py
│ │ ├── sample_video_device_camera.py
│ │ ├── sample_video_general_purpose.py
│ │ └── sample_video_resources.py
│ ├── setup.py
│ ├── src
│ │ ├── __init__.py
│ │ ├── face_detect_hc.py
│ │ ├── fdhc.egg-info
│ │ └── haarcascade_frontalface_default.xml
│ └── tests
│ ├── get_assets_folder.py
│ ├── test_open_image_hc.py
│ └── test_process_image_hc.py
└── setup_baxter_bon_appetit.md