General Testing Tools:

To view a baxter camera while the robot or simulation is running - rosrun image_view image_view image:=/cameras/left_hand_camera/image - can also sub in right_hand_camera or head_camera to view other two cameras - simulation lets you view all 3 cameras at once even though you can only actually view two cameras at once on the real hardware
If cameras are acting up (or if you just turned baxter on), disable all cameras then enable right hand camera: - rosrun baxter_tools camera_control.py -c right_hand_camera - rosrun baxter_tools camera_control.py -c left_hand_camera - rosrun baxter_tools camera_control.py -c head_camera - rosrun baxter_tools camera_control.py -o right_hand_camera

To display a smiley face: - rosrun baxter_examples xdisplay_image.py --file=rospack find blocks/images/smiley.png - rosrun baxter_examples xdisplay_image.py --file=rospack find blocks/images/frowny.jpeg

To get a location of a model in gazebo (if running the testing simulation): - rosservice call /gazebo/get_model_state "model_name: 'block1'" - can also sub in any other model for block1
To get the location of the of a block through the blocks service: - rosservice call /blocks/next_pickup - Returns the location of a detected block

To view coordinate transforms in the command line: - rosrun tf tf_echo /l_gripper /torso - command above is of the form tf_echo <source_frame> <target_frame> - According to baxter.srdf.xacro, the left_arm group should be from the base_link = "torso" to the tip_link = "left_gripper" - NOTE: This value might not match RVIZ ... should explore more
To view workspace in RVIZ, check: - MotionPlanning > Planning Request > Show Workspace
To move the arms to a safe position (away from table), - rosrun blocks safe_arms
To view the current arm positions in joint coordinates: - rostopic echo /robot/joint_states - These can be used to update the positions in setup_blocks_hw

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