Using the Head

Using the Head

Summary

Head Movement; Refer to Head Lights (I/O? or here? or both? -- remember: using the head), Screen, Sensors

• General Info
• Wiki Resources
  • API Reference
  • Examples
  • Tools
  • ( Demos )
• ( Tutorials/Walkthroughs )
• Articles
• Hardware Info / Specs
• Tips for using the Component
• See Also

General Info / Guide

Basics of "what you need to know to use the Head". (continued in more detail later on)

Baxter's head has a pan joint and a single "Nod" action for movement. There is one camera, one red LED ring, one green LED ring, and 12 individual yellow LEDs along with 12 sonar transducers.

You can control the lights on the head and the sonar transducers themselves. In quiet rooms the sound of the sonar sensors can be quite audible and it is useful to disable the transducers. See the Sonar Control page for information on turning off the sonars.

Resources

ROS API

See the API Reference Page for information on the ROS Interface to the Head.

Python API (baxter_interface)

Head interface class (head.py)

Examples

• head_control (wobbler.py)
  • Head Movement Example

Tools

• rviz (ROS)
  • Using the Robot Model Display Type in rviz, you can see the current angle of the head, though the nodding will not update as the tilt angle is not readable.

(Demos)

Learning More

(Tutorials/Walkthroughs)

Articles

Hardware Info

Tips for using the Component

“Methods”

• ex: republish

<Related Pages/Topics>

See Also

Using the Screen, Using the Lights