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Update mkdocs and readme files

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hello-jesus 1 year ago
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  1. +14
    -12
      mkdocs.yml
  2. +33
    -26
      ros2/README.md

+ 14
- 12
mkdocs.yml View File

@ -148,24 +148,26 @@ nav:
- Overview: ./ros2/README.md
- Basics:
- Getting Started: ./ros2/getting_started.md
# - Teleoperating Stretch: ./ros2/teleoperating_stretch.md
- Introduction to ROS 2: ./ros2/intro_to_ros2.md
- Introduction to HelloNode: ./ros2/intro_to_hellonode.md
- Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md
- Teleoperating Stretch: ./ros2/teleoperating_stretch.md
- Internal State of Stretch: ./ros2/internal_state_of_stretch.md
- RViz Basics: ./ros2/rviz_basics.md
- Nav2 Stack:
- Overview: ./ros2/navigation_overview.md
- Nav2 Basics: ./ros2/navigation_stack.md
- Nav2 Simple Commander: ./ros2/navigation_simple_commander.md
- Follow Joint Trajectory Commands: ./ros2/follow_joint_trajectory.md
- Perception: ./ros2/perception.md
- ArUco Marker Detection: ./ros2/aruco_marker_detection.md
- ReSpeaker Microphone Array:
- Respeaker Mic Array: ./ros2/respeaker_mic_array.md
- Respeaker Topics: ./ros2/respeaker_topics.md
- FUNMAP: https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_funmap
# - MoveIt 2:
# - MoveIt Basics: ./ros2/moveit_basics.md
# - MoveIt with RViz: ./ros2/moveit_rviz_demo.md
# - MoveGroup C++ API: ./ros2/moveit_movegroup_demo.md
# - Perception: ./ros2/perception.md
# - ArUco Marker Detection: ./ros2/aruco_marker_detection.md
# - ReSpeaker Microphone Array: ./ros2/respeaker_microphone_array.md
# - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
# - ROS testing: ./ros2/ros_testing.md
# - Other Nav Stack Features: ./ros2/other_nav_features.md
# - Gazebo Basics: ./ros2/gazebo_basics.md
@ -174,18 +176,18 @@ nav:
- Filter Laser Scans: ./ros2/example_2.md
- Mobile Base Collision Avoidance: ./ros2/example_3.md
- Give Stretch a Balloon: ./ros2/example_4.md
# - Print Joint States: ./ros2/example_5.md
# - Store Effort Values: ./ros2/example_6.md
# - Capture Image: ./ros2/example_7.md
# - Voice to Text: ./ros2/example_8.md
# - Voice Teleoperation of Base: ./ros2/example_9.md
- Print Joint States: ./ros2/example_5.md
- Store Effort Values: ./ros2/example_6.md
- Capture Image: ./ros2/example_7.md
- Voice to Text: ./ros2/example_8.md
- Voice Teleoperation of Base: ./ros2/example_9.md
- Tf2 Broadcaster and Listener: ./ros2/example_10.md
- ArUco Tag Locator: ./ros2/example_12.md
- Obstacle Avoider: ./ros2/obstacle_avoider.md
- Align to ArUco: ./ros2/align_to_aruco.md
- Deep Perception: ./ros2/deep_perception.md
- Avoiding Race Conditions and Deadlocks: ./ros2/avoiding_deadlocks_race_conditions.md
# - PointCloud Transformation: ./ros2/example_11.md
# - ArUco Tag Locator: ./ros2/example_12.md
- Stretch Tool Share:
- Overview: ./stretch_tool_share/README.md

+ 33
- 26
ros2/README.md View File

@ -14,17 +14,23 @@ This tutorial track is for users looking to get familiar with programming Stretc
| | Tutorial | Description |
|--|---------------------------------------------------------------------------------|----------------------------------------------------|
| 1 | [Getting Started](getting_started.md) | Setup instructions for ROS 2 on Stretch|
| 2 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | Control joints using joint trajectory server. |
| 3 | [Internal State of Stretch](internal_state_of_stretch.md) | Monitor the joint states of Stretch. |
| 4 | [RViz Basics](rviz_basics.md) | Visualize topics in Stretch. |
| 5 | [MoveIt2 Basics](moveit_basics.md) | Motion planning and control for the arm using MoveIt. |
| 1 | [Getting Started](getting_started.md) | Setup instructions for ROS 2 on Stretch|
| 2 | [Introduction to ROS 2](intro_to_ros2.md.md) | Explore the client library used in ROS2 |
| 3 | [Introduction to HelloNode](intro_to_hellonode.md) | Explore the Hello Node class to create a ROS2 node for Stretch |
| 4 | [Teleoperating Stretch](teleoperating_stretch.md) | Control Stretch with a Keyboard or a Gamepad controller. |
| 5 | [Internal State of Stretch](internal_state_of_stretch.md) | Monitor the joint states of Stretch. |
| 6 | [RViz Basics](rviz_basics.md) | Visualize topics in Stretch. |
| 7 | [Nav2 Stack](navigation_overview.md) | Motion planning and control for mobile base. |
| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | Control joints using joint trajectory server. |
| 9 | [Perception](perception.md) | Use the Realsense D435i camera to visualize the environment. |
| 10 | [ArUco Marker Detection](aruco_marker_detection.md) | Localize objects using ArUco markers. |
| 11 | [ReSpeaker Microphone Array](respeaker_mic_array.md) | Learn to use the ReSpeaker Microphone Array. |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros2/tree/humble/stretch_funmap) | Fast Unified Navigation, Manipulation and Planning. |
<!--| 5 | [MoveIt2 Basics](moveit_basics.md) | Motion planning and control for the arm using MoveIt. |
| 6 | [MoveIt2 with Rviz](moveit_rviz_demo.md) | Motion planning and control for the arm using MoveIt. |
| 7 | [MoveIt2 MoveGroup C++ API](moveit_movegroup_demo.md) | Motion planning and control for the arm using MoveIt. |
<!--| 9 | [Perception](coming_soon.md) | Use the Realsense D435i camera to visualize the environment. |
| 10 | [ArUco Marker Detection](coming_soon.md) | Localize objects using ArUco markers. |
| 11 | [ReSpeaker Microphone Array](coming_soon.md) | Learn to use the ReSpeaker Microphone Array. |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | Fast Unified Navigation, Manipulation and Planning. |
| 7 | [MoveIt2 MoveGroup C++ API](moveit_movegroup_demo.md) | Motion planning and control for the arm using MoveIt. |
| 13 | [ROS testing](coming_soon.md) | Write ROS system tests for introspection. |
| 14 | [Other Nav Stack Features](coming_soon.md) | Advanced features for Nav 2. | -->
@ -34,19 +40,20 @@ To help get you started on your software development, here are examples of nodes
| | 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 | [Tf2 Broadcaster and Listener](example_10.md) | Create a tf2 broadcaster and listener.|
| 6 | [Obstacle Avoider](obstacle_avoider.md) | Avoid obstacles using the planar lidar. |
| 7 | [Align to ArUco](align_to_aruco.md) | Detect ArUco fiducials using OpenCV and align to them.|
| 8 | [Deep Perception](deep_perception.md) | Use YOLOv5 to detect 3D objects in a point cloud.|
<!-- | 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.| -->
| 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 | [ArUco Tag Locator](example_12.md) | Actuate the head to locate a requested ArUco marker tag and return a transform.|
| 12 | [Obstacle Avoider](obstacle_avoider.md) | Avoid obstacles using the planar lidar. |
| 13 | [Align to ArUco](align_to_aruco.md) | Detect ArUco fiducials using OpenCV and align to them.|
| 14 | [Deep Perception](deep_perception.md) | Use YOLOv5 to detect 3D objects in a point cloud.|
| 15 | [Avoiding Race Conditions and Deadlocks](avoiding_deadlocks_race_conditions.md) | Learn how to avoid Race Conditions and Deadlocks |
<!--| 11 | [PointCloud Transformation](example_11.md) | Convert PointCloud2 data to a PointCloud and transform to a different frame.|

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