This page contains information about how to bring up and use Baxter in simulation, it also contains information on how to plan and execute arm movements using MoveIt!.


  1. ROS Indigo-install ROS from here.
  2. Gazebo
    1. install Gazebo from here. Some Gazebo versions present ROS-Gazebo integration issues, Gazebo version 2 works properly.
    2. you can also install from here
  3. MoveIt!-install MoveIt! from here, it also contains the Baxter MoveIt! configuration pacakge.
  4. Baxter dependencies-install from here. Some steps might be redundant so you can also install from the previous page.

Step-by-step guide:

  1. Open a new terminal and run the script in simulation mode ./ sim
  2. Bring up Gazebo with the a Baxter robot using a roslaunch file roslaunch baxter_gazebo baxter_world.launch (It may last a little bit longer)!!
  3. Start the interface for controlling the robot
    1. Execute step 1 and in the same terminal enable the robot rosrun baxter_tools -e
    2. Execute step 1 and in the same terminal start the joint trajectory action server rosrun baxter_interface
    3. Execute step 1 and in the same terminal tuck the arms of the robot rosrun baxter_tools -u
  4. Execute step 1 and in the same terminal start Baxter's MoveIt! configuration file using roslaunch baxter_moveit_config baxter_grippers.launch

For ease of use you can place all the information above in a launch file. Copy the following code in a file with the following name your_name_here.launch.

Place the file in the launch directory of your package.


<?xml version='1.0'?>


    <node pkg="baxter_interface" name="baxter_joint_trajectory_action_server" type="" output="screen"/>

    <node pkg="baxter_tools"     name="baxter_enable_robot" type="" args="-e" output="screen"/>

    <node pkg="baxter_tools"     name="baxter_tucker" type="" args="-u" output="screen"/>

    <node pkg="baxter_interface" name="baxter_gripper" type="" output="screen"/>

     <include file="$(find baxter_moveit_config)/launch/baxter_grippers.launch"/>



If all goes well you should have a Baxter robot in Gazebo and Rviz with the MoveIt! plugin loaded, ready to plan movements for the arms. Once you plan a valid position in MoveIt! you will be able to see it in Gazebo.


Adding a conveyor belt to the simulation:


Adding a vacuum gripper:

After completing the instruction, please have a look also at:!topic/brr-users/q9Hg7eAesJQ