Baxter will erase your whiteboards

• Ubuntu 14.04.5 LTS
• ROS Indigo Igloo
• Baxter Research Robot

I will defer to other resources regarding installing the above. I can only guarantee running the steps below will work, granted you are working in Cory 111, UC Berkeley.

In your .bashrc, add the following

1. source /opt/ros/indigo/setup.bash
   • This runs a ROS-specific configuration script every time you open a new terminal which sets several environment variables that tell the system whre the ROS installation is located.
2. source /scratch/shared/baxter_ws/devel/setup.bash
   • This allows us to use packages from the Baxter SDK, which in our case located in the /scratch/shared directory.
3. export ROS_HOSTNAME=$(hostname --short).local
   • Honestly, I'm not entirely sure why we do this. I assume this is so Baxter knows who it's talking to.
4. export ROS_MASTER_URI=http://<Baxter-IP-Address>:11311
   • This is so your RViz can find your robot

Make sure you re-source your .bashrc upon making this changes. Now, onto building the project!

1. In the root directory, run catkin_make to build the project
2. "Source devil" as we like to say it, to use the non-built-in package created in this project by running source devel/setup.bash.