This launch file provides an easy to keyboard teleoperate Stretch's joints. It includes the [stretch_driver.launch](#stretch_driverlaunch) launch file and the [keyboard_teleop](#keyboard_teleop) node.
This launch file enables easy keyboard teleoperation of Stretch's joints. It internally launches the [stretch_driver.launch](#stretch_driverlaunch) launch file, as well as the [keyboard_teleop](./nodes/keyboard_teleop) node.
@ -142,6 +142,12 @@ This service will start Stretch's stowing procedure, where the arm is stowed int
Other ways to stow the robot include using the `stretch_robot_stow.py` CLI tool from a terminal, or calling [`robot.stow()`](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/tutorial_stretch_body_api/#stretch_body.robot.Robot.stow) from Stretch's Python API.
Other ways to stow the robot include using the `stretch_robot_stow.py` CLI tool from a terminal, or calling [`robot.stow()`](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/tutorial_stretch_body_api/#stretch_body.robot.Robot.stow) from Stretch's Python API.
See [stretch_driver.launch's TF docs](#TODO) to learn about the full Stretch TF tree. The stretch_driver node, which is part of stretch_driver.launch, is responsible for publishing the "odom" to "base_link" transform if the [broadcast_odom_tf parameter](#broadcastodomtf) is set to true. Odometry for the robot is calculated within the underlying Stretch Body Python SDK within the [update method in the Base class](https://github.com/hello-robot/stretch_body/blob/ea987c3d4f21a65ce4e85c6c92cd5d2efb832c41/body/stretch_body/base.py#L555-L651) by looking at the encoders for the left and right wheels. Note: Odometry calculated from wheel encoders is susceptible to drift for a variety of reasons (e.g. wheel slip, misalignment, loose belt tension, time dilation). A reasonable amount of drift is ~1cm per meter translated by the mobile base. A common remedy is to use a localization library to correct for the drift by integrating other sensors into the calculation of the odometry. For example, [AMCL](http://wiki.ros.org/amcl) is a particle filter ROS package for using Lidar scans + wheel odometry to correct for drift.
See [stretch_driver.launch's TF docs](#TODO) to learn about the full Stretch TF tree. The stretch_driver node, which is part of stretch_driver.launch, is responsible for publishing the "odom" to "base_link" transform if the [broadcast_odom_tf parameter](#broadcastodomtf) is set to true. Odometry for the robot is calculated within the underlying Stretch Body Python SDK within the [update method in the Base class](https://github.com/hello-robot/stretch_body/blob/ea987c3d4f21a65ce4e85c6c92cd5d2efb832c41/body/stretch_body/base.py#L555-L651) by looking at the encoders for the left and right wheels. Note: Odometry calculated from wheel encoders is susceptible to drift for a variety of reasons (e.g. wheel slip, misalignment, loose belt tension, time dilation). A reasonable amount of drift is ~1cm per meter translated by the mobile base. A common remedy is to use a localization library to correct for the drift by integrating other sensors into the calculation of the odometry. For example, [AMCL](http://wiki.ros.org/amcl) is a particle filter ROS package for using Lidar scans + wheel odometry to correct for drift.
@ -169,7 +175,3 @@ TODO
This node lets you switch the visual preset of the D435i on the fly.
This node lets you switch the visual preset of the D435i on the fly.
Binit Shah
1 year ago