From 38d14f3433f4e289b08dabc7244a2d895b6cd625 Mon Sep 17 00:00:00 2001 From: Alan Sanchez Date: Fri, 27 Aug 2021 14:58:50 -0700 Subject: [PATCH] Updated internal state guide for actual robot. --- internal_state_of_stretch.md | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/internal_state_of_stretch.md b/internal_state_of_stretch.md index 3cb57ad..99f2491 100644 --- a/internal_state_of_stretch.md +++ b/internal_state_of_stretch.md @@ -1,6 +1,11 @@ ## Getting the State of the Robot -Begin by starting up [Stretch in simulation](getting_started) and the [keyboard teleoperation](teleoperating_stretch.md). Then utilize the ROS command-line tool, [rostopic](http://wiki.ros.org/rostopic), to display Stretch's internal state information. For instance, to view the current state of the robot's joints, simply type the following in a terminal. +Begin by starting up the stretch driver launch file by typing the following in a terminal. +```bash +roslaunch stretch_core stretch_driver.launch +``` + +Then utilize the ROS command-line tool, [rostopic](http://wiki.ros.org/rostopic), to display Stretch's internal state information. For instance, to view the current state of the robot's joints, simply type the following in a terminal. ```bash rostopic echo /joint_states -n1 ``` @@ -45,7 +50,7 @@ A powerful tool to visualize the ROS communication is the ROS [rqt_graph package ``` rqt_graph ``` -![image](images/rosgraph.png) +![image](images/rqt_graph.png) The graph allows a user to observe and affirm if topics are broadcasted to the correct nodes. This method can also be utilized to debug communication issues.