stretch_ros

History

Charlie Kemp eebb881ced fixes broken D435i URDF due to upstream changes (realsense-ros release 2.2.14) Apparently, upstream RealSense changes in ROS Melodic broke Stretch URDF creation. More information about the changes can be found using the following information: + realsense-ros release: https://github.com/IntelRealSense/realsense-ros/releases/tag/2.2.14 + Debian package: ros-melodic-realsense2-description/bionic,now 2.2.14-1bionic.20200630.141906 + relevant commit: `f7cd5fced5` The corrected issue has to do with changes to "use_nominal_extrinsics" specified in the D435i xacros in the realsense2_description package. The current commmit also changes the d435i launch file for Stretch (d435i_basic.launch) so that it no longer performs "initial_reset" by default. "initial_reset" appears to have resulted in long delays and freezing when bringing up the camera on the robot. An excerpt from Intel's documentation for initial_reset follows: "initial_reset: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage." from https://github.com/intel-ros/realsense		4 years ago
..
config	initial public version	4 years ago
launch	fixes broken D435i URDF due to upstream changes (realsense-ros release 2.2.14)	4 years ago
nodes	command for a fixed number of mapping iterations	4 years ago
rviz	initial public version	4 years ago
CMakeLists.txt	initial public version	4 years ago
LICENSE.md	initial public version	4 years ago
README.md	initial public version	4 years ago
package.xml	Up stretch_core/demos version number	4 years ago

README.md

Overview

stretch_core provides the core ROS interfaces to the Stretch RE1 mobile manipulator from Hello Robot Inc. It includes the following nodes:

stretch_driver : node that communicates with the low-level Python library (stretch_body) to interface with the Stretch RE1

detect_aruco_markers : node that detects and estimates the pose of ArUco markers, including the markers on the robot's body

*d435i_** : various nodes to help use the Stretch RE1's 3D camera

keyboard_teleop : node that provides a keyboard interface to control the robot's joints

License

For license information, please see the LICENSE files.