From 463648e6cf218f4caf7d278281f7dcd4f898dea6 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 5 Aug 2021 14:53:23 -0700 Subject: [PATCH] Init commit of internat state of stretch file. --- images/rosgraph.png | Bin 0 -> 82206 bytes internal_state_of_stretch.md | 52 +++++++++++++++++++++++++++++++++++ 2 files changed, 52 insertions(+) create mode 100644 images/rosgraph.png create mode 100644 internal_state_of_stretch.md diff --git a/images/rosgraph.png b/images/rosgraph.png new file mode 100644 index 0000000000000000000000000000000000000000..be302eab8e00262ed8632c9bf94fefadf9d72aa7 GIT binary patch literal 82206 zcmeEu2U}HF*DY$)s3_5hBB+Rh5l}#Bf;7cKQThQyij6KsddC=nL{tz(q^tBpIU>EQ z1W~$F=_1mb^bU8d1oC}9;oj%Dd6GA;fwRxvYtJ?3m}88&{!&u7uyr%@W;!~$t+Fy_ zRp{t8#L>~M3H^Bk{>$$Rfj984O_nm3t?B5t{Z0N^0{|}>d#F(HhGn>-Mw?<$WEm#`=bt|YFWhBMG%)58* zHgDTzcR8c+)*H>Ex=T0l?En15qp|A@S8ckV-;TwJ8b$Nc#uP*U(9oe>0wNm~y3#^V z*;h0Nc${!?acQ|5Up;xh>CBlkJNNHTI{%P4>liNjlitd8loWqad08SSC->CfKT0)5 zp|3VhRn&PZp|~nez=5mzS$Mc!r=b6agZk@yzka>Ce#3@mrw)E}yd 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zGY{gX*%1OvT9&5kKQ~k|%uf;HGS$Dm!-hDg(81>}IJMm|xnSuYV~ZV|tA4UkZt8pQ zSbGQmTkDoY>wzT^`_N7?qW^EUWN9#M_1~A#1Ap kj(Vi`@1Yr*>V`(08WX2}XRloWRaGdQ9VaM{+0R(_e-2P{ivR!s literal 0 HcmV?d00001 diff --git a/internal_state_of_stretch.md b/internal_state_of_stretch.md new file mode 100644 index 0000000..0e3b761 --- /dev/null +++ b/internal_state_of_stretch.md @@ -0,0 +1,52 @@ +## 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. +``` +rostopic echo /joint_states -n1 +``` +Note that the flag, `-n1`, at the end of the command, defines the count of how many times you wish to publish the current topic information. If you prefer to print the topic for debugging purposes continuously, then remove the flag. + +Your terminal will then output the information associated with the `/joint_states` topic. Your `header`, `position`, `velocity`, and `effort` information may vary from what is printed below. +``` +header: + seq: 70999 + stamp: + secs: 1420 + nsecs: 2000000 + frame_id: '' +name: [joint_arm_l0, joint_arm_l1, joint_arm_l2, joint_arm_l3, joint_gripper_finger_left, + joint_gripper_finger_right, joint_head_pan, joint_head_tilt, joint_left_wheel, joint_lift, + joint_right_wheel, joint_wrist_yaw] +position: [-1.6137320244357253e-08, -2.9392484829061376e-07, -2.8036125938539207e-07, -2.056847528567165e-07, -2.0518734302754638e-06, -5.98271107676851e-06, 2.9291786329821434e-07, 1.3802900147297237e-06, 0.08154086954434359, 1.4361499260374905e-07, 0.4139061738340768, 9.32603306580404e-07] +velocity: [0.00015598730463972836, -0.00029395074514369584, -0.0002803845454217379, 1.322424459109634e-05, -0.00035084643762840415, 0.0012164337445918797, 0.0002138814988808099, 0.00010419792027496809, 4.0575263146426684e-05, 0.00022487596895736357, -0.0007751929074042957, 0.0002451588607332439] +effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] +--- +``` + +Let's say you are intersted in only seeing the `header` component of the `/joint_states` topic, you can parse this within the rostopic command-line tool by typing the following command. +``` +rostopic echo /joint_states/header -n1 +``` +Your terminal will then output something similar to this: + +``` +seq: 97277 +stamp: + secs: 1945 + nsecs: 562000000 +frame_id: '' +--- +``` + +Additionally, if you were to type `rostopic echo /` in the terminal, then press your *Tab* key on your keyboard, you will see the list of active topics being published. + +A powerful tool to visualize the ROS communication is the ROS [rqt_graph package](http://wiki.ros.org/rqt_graph). You can see a graph of topics being communicated between nodes by typing the following. + +``` +rqt_graph +``` +![image](images/rosgraph.png) + +The graph allows a user to observe and affirm if topics are broadcasted to the correct nodes. This is method can also be utilized to debug communication issues. + +**Next Tutorial:** [Rviz Basics](rviz_basics.md)