From 88007e68756c8fda82e7d5fb20a7107c61c85536 Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Wed, 8 Mar 2023 13:29:12 -0800 Subject: [PATCH] Initial README for the demo --- stretch_demos/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/stretch_demos/README.md b/stretch_demos/README.md index 7888307..54c4db6 100644 --- a/stretch_demos/README.md +++ b/stretch_demos/README.md @@ -54,6 +54,16 @@ roslaunch stretch_demos clean_surface.launch Then, press the key with the / and ? on it while in the terminal to initiate a surface cleaning attempt. +### Autodocking with Nav Stack + +For this demo, the robot will look for a docking station with an ArUco marker, align itself to the docking station using the ROS Nav Stack, and then back up into the docking station using an error-based controller. Prior to running this demo, you should stow the robot, ensure that you have a pregenerated map and the docking station is resting against a wall. Go through [this]() tutorial to understand how the demo works. + +You can launch this demo using the following command: + +``` +roslaunch stretch_demos autodocking.launch +``` + ## License For license information, please see the LICENSE files.