Simulating pick and place in Gazebo

[skohlbr]

Looking at the README and comment in #15, I realize that simulation currently is not maintained. I´d still like to take a shot at simulating pick and place in Gazebo and wanted to ask if pick and place has been supported using Gazebo before. I´m asking because the robot that spawns in Gazebo appears to not have fingers/grippers per default and I´d like to estimate how much effort it would be to make things work again.

[davetcoleman]

It worked before 0.7.0 came out for Baxter's firmware, with fingers. Since then I lots of things have changed. How much effort it would take depends on your experience level... for me an hour or two?

[jon-weisz]

If I wanted to fix this, which version of gazebo would be the preferred target? I find the current spread of gazebo packages bewildering.

[davetcoleman]

Use whichever Gazebo comes with your ROS release (indigo) by default. See: http://gazebosim.org/tutorials?tut=ros_wrapper_versions&cat=connect_ros

Have you looked into the Gazebo simulation that Rethink now provides for Baxter? I have not...

[jon-weisz]

@davetcoleman I'm not sure which one you are referring to. As best as I can tell, the one that is documented here http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator does not actually exist.

[davetcoleman]

I believe you have to request from your Rethink representatives access to the simulator repo code