stretch_tutorials/ros1_melodic/README.md

![](../images/banner.png)
# Tutorial Track: Stretch ROS1

This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS1 Melodic. We recommend going through the tutorials in the following order:

## Basics

|   | Tutorial                                                                        | Description                                        |
|---|---------------------------------------------------------------------------------|----------------------------------------------------|
| 1 | [Getting Started](getting_started.md)                                           | |
| 2 | [Gazebo Basics](gazebo_basics.md)                                               | |
| 3 | [Teleoperating Stretch](teleoperating_stretch.md)                               | |
| 4 | [Internal State of Stretch](internal_state_of_stretch.md)                       | |
| 5 | [RViz Basics](rviz_basics.md)                                                   | |
| 6 | [Navigation Stack](navigation_stack.md)                                         | |
| 7 | [MoveIt! Basics](moveit_basics.md)                                              | |
| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md)                  | |
| 9 | [Perception](perception.md)                                                     | |
| 10 | [ArUco Marker Detection](aruco_marker_detection.md)                             | |
| 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md)                     | |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | |


## Other Examples
To help get you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.


|   | Tutorial                                        | Description                                        |
|---|-------------------------------------------------|----------------------------------------------------|
| 1 | [Teleoperate Stretch with a Node](example_1.md) |  Use a python script that sends velocity commands.  |
| 2 | [Filter Laser Scans](example_2.md)              |  Publish new scan ranges that are directly in front of Stretch.|
| 3 | [Mobile Base Collision Avoidance](example_3.md) |  Stop Stretch from running into a wall.|
| 4 | [Give Stretch a Balloon](example_4.md)          |  Create a "balloon" marker that goes where ever Stretch goes.|
| 5 | [Print Joint States](example_5.md)              |  Print the joint states of Stretch.|
| 6 | [Store Effort Values](example_6.md)             |  Print, store, and plot the effort values of the Stretch robot.|
| 7 | [Capture Image](example_7.md)                   |  Capture images from the RealSense camera data.|
| 8 | [Voice to Text](example_8.md)                   |  Interpret speech and save transcript to a text file.|
| 9 | [Voice Teleoperation of Base](example_9.md)     |  Use speech to teleoperate the mobile base.|
| 10 | [Tf2 Broadcaster and Listener](example_10.md)   |  Create a tf2 broadcaster and listener.|
| 11 | [PointCloud Transformation](example_11.md)      |  Convert PointCloud2 data to a PointCloud and transform to a different frame.|
| 12 | [ArUco Tag Locator](example_12.md)              |  Actuate the head to locate a requested ArUco marker tag and return a transform.|
| 13 | [2D Navigation Goals](example_13.md)            |  Send 2D navigation goals to the move_base ROS node.|