cccccccc
/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
Browse Source

CK suggestions Jan 30, 2023

pull/16/head
hello-chintan 1 year ago
parent
09286349d3
commit
6e095a2187
3 changed files with 56 additions and 83 deletions
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. +22
    -36
      getting_started/quick_start_guide_re1.md
  2. +26
    -37
      getting_started/quick_start_guide_re2.md
  3. +8
    -10
      ros1/rviz_basics.md

+ 22
- 36
getting_started/quick_start_guide_re1.md View File

@ -16,15 +16,10 @@ A few items you'll want to know about before getting started.
### Power
The entire robot powers up and down with the On/Off switch. When powering down, we recommend selecting 'Power Off' from the Ubuntu Desktop prior to hitting the Off switch
The entire robot powers up and down with the On/Off switch. When powering down, we recommend selecting 'Power Off' from the Ubuntu Desktop before hitting the Off switch
![](./images/trunk_rs.png)
​
The provided battery charger can be plugged and unplugged at any time during operation. Stretch uses the following charger modes:
| Mode | Function |
@ -40,9 +35,9 @@ Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/s
### Runstop
The illuminated button on the head is its Runstop. Just tap it, you'll hear a beep and it will start flashing. This will pause motion of the primary robot joints during operation. This can be useful if the robot makes an unsafe motion, or if you just want to free up the robot motors while you roll it around.
The illuminated button on the head is its Runstop. Just tap it, you'll hear a beep and it will start flashing. This will pause the motion of the primary robot joints during operation. This can be useful if the robot makes an unsafe motion, or if you just want to free up the robot motors while you roll it around.
To allow motion once again, hold the button down for two seconds. After the beep, motion can resume.
To allow motion once again, hold the button down for two seconds. After the beep, the motion can resume.
![](./images/runstop_rs.png)
@ -68,16 +63,16 @@ The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provi
* Driving the wrist and gripper into the base. When the arm and wrist are stowed it is possible to collide the two.
* Getting the gripper stuck on something and then driving the arm, lift, or base.
* Laying the robot down with it weight on its camera.
* Laying the robot down with its weight on its camera.
* Trying to ride on the robot, getting it wet, etc. (eg, common sense)
## Hello World Demo
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot capabilities by teleoperating it with an Xbox Controller.
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot's capabilities by teleoperating it with an Xbox Controller.
![](./images/xbox.png)
**Note**: You will find the USB Dongle already plugged into the the USB port of the base trunk.
**Note**: You will find the USB Dongle already plugged into the USB port of the base trunk.
To start the demo after unboxing:
@ -87,28 +82,25 @@ To start the demo after unboxing:
* Hit the Home Robot button. Stretch will go through its homing calibration routine.
* **Note**: make sure the space around the robot is clear before running the Home function
You're ready to go! A few things to try:
You're ready to go! A few things to try:
* Hit the Stow Robot button. The robot will assume the stow pose.
* Practice driving the robot around.
* Pull the Fast Base trigger while driving. When stowed, it will make Stretch drive faster
* Manually stop the arm or lift from moving to make it stop upon contact.
* Try picking up your cellphone from the floor
* Try grasping cup from a counter top
* Try grasping a cup from a countertop
* Try delivering an object to a person
If you're done, hold down the Shutdown PC button for 2 seconds. This will cause the PC to turn off. You can then power down the robot. Or proceed to the next step...
Now that you're familiar with the robot, take a minute to watch the [Stretch Powered Best Practices Video](https://youtu.be/iEaapHNfEWA).
## Get Plugged In
Let's get plugged in.
* Remove the 'trunk' cover and power on the robot if its not already on.
* Remove the 'trunk' cover and power on the robot if it's not already on.
* Plug in a mouse, keyboard and HDMI monitor to the robot trunk
* Plug in the battery charger
* Place the charger in SUPPLY mode
@ -117,11 +109,11 @@ Log in to the robot computer. The default user credentials came in the box with
## Start Coding
Python is the easiest way to begin writing code for the robot. This section will give you a quick look at Stretch Body, which is the low level Python interface to the robot. Detailed information on the [Stretch Body Interface](../stretch_body/README.md) can be found here.
Python is the easiest way to begin writing code for the robot. This section will give you a quick look at Stretch Body, which is the low-level Python interface to the robot. Detailed information on the [Stretch Body Interface](../stretch_body/README.md) can be found here.
**NOTE**: Stretch is configured to run the XBox Controller demo in the background at startup. To run your own code you'll need kill off this process so that it doesn't contend with your code.
**NOTE**: Stretch is configured to run the XBox Controller demo in the background at startup. To run your own code you'll need to kill this process so that it doesn't contend with your code.
```console
```{.bash .shell-prompt}
$ pkill -f stretch_xbox*
```
@ -129,27 +121,23 @@ While you're at it, disable this autoboot feature. You can always turn it back o
Search for 'Startup' from Ubuntu Activities. Uncheck the box for 'hello_robot_xbox_teleop'
![](./images/xbox_off_rs.png)
Now open up a Terminal. From the command line, first, verify that that all of the hardware is present and happy
Now open up a Terminal. From the command line, first verify that that all of the hardware is present and happy
```console
```{.bash .shell-prompt}
$ stretch_robot_system_check.py
```
You may see a few joints reported in red because they haven't yet been calibrated. If so, home the robot
```console
```{.bash .shell-prompt}
$ stretch_robot_home.py
```
Once the robot has homed, let's write some quick test code:
```console
```{.bash .shell-prompt}
$ ipython
Python 2.7.17 (default, Apr 15 2020, 17:20:14)
...
@ -189,21 +177,19 @@ robot.stow()
robot.stop()
```
## Change Credentials
Finally, we recommend that you change the login credentials for the default user, hello-robot.
```console
```{.bash .shell-prompt}
$ sudo passwd hello-robot
```
If you'd like to setup a new user account, check out the [Stretch Installation Guide](https://github.com/hello-robot/stretch_install/blob/master/README.md). In a lab setting, it's useful for lab members to have their own user accounts to run experiments.
If you'd like to set up a new user account, check out the [Stretch Installation Guide](https://github.com/hello-robot/stretch_install/blob/master/README.md). In a lab setting, it's useful for lab members to have their own user accounts to run experiments.
## Power Down
The recommended power down procedure is
The recommended power-down procedure is
1. Place a clamp on the mast below the shoulder to prevent dropping
2. Shutdown the computer from the Desktop
@ -213,15 +199,15 @@ The recommended power down procedure is
## Join the Community Forum
Join the [Hello Robot Community](https://forum.hello-robot.com). We'd welcome hearing your feedback as you get to know your robot.
Join the [Hello Robot Community](https://forum.hello-robot.com). We'd welcome hearing your feedback as you get to know your robot.
Hello Robot support monitors the forum closely and will quickly get back to you on any questions or issues you post.
## Further Exploration
Encounter any issues while getting started? Please let us know at support@hello-robot.com. Also take a minute to review the [Stretch Troubleshooting Guide](./troubleshooting_guide.md)
Encounter any issues while getting started? Please let us know at support@hello-robot.com. Also, take a minute to review the [Stretch Troubleshooting Guide](./troubleshooting_guide.md)
We recommend next exploring the ROS based demos that ship with Stretch. These [are found in the stretch_ros repository](https://docs.hello-robot.com/0.2/stretch-ros/stretch_demos/).
We recommend next exploring the ROS-based demos that ship with Stretch. These [are found in the stretch_ros repository](https://docs.hello-robot.com/0.2/stretch-ros/stretch_demos/).
That's it. Happy coding!

+ 26
- 37
getting_started/quick_start_guide_re2.md View File

@ -20,18 +20,17 @@ The entire robot powers up and down with the On/Off switch. When powering down,
![](./images/trunk_re2_rs2.png)
### Runstop
The illuminated button on the head is its Runstop. Just tap it, you'll hear a beep and it will start flashing. This will pause motion of the primary robot joints during operation. This can be useful if the robot makes an unsafe motion, or if you just want to free up the robot motors while you roll it around.
The illuminated button on the head is its Runstop. Just tap it, you'll hear a beep and it will start flashing. This will pause the motion of the primary robot joints during operation. This can be useful if the robot makes an unsafe motion, or if you just want to free up the robot motors while you roll it around.
To allow motion once again, hold the button down for two seconds. After the beep, motion can resume.
To allow motion once again, hold the button down for two seconds. After the beep, the motion can resume.
![](./images/runstop_rs.png)
### LED Lightbar
The LED lightbar in the base provides a simple way to quickly ascertain the robot state. At all times its color indicates the battery voltage.
The LED lightbar in the base provides a simple way to quickly ascertain the robot's state. At all times its color indicates the battery voltage.
![](./images/lightbar_voltage.png)
@ -45,14 +44,13 @@ The lightbar will also flash as follows:
| Runstopped | Rapid flash at 1 Hz |
| Charger plugged in | Slow strobe at 0.5 Hz |
## Hello World Demo
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot capabilities by teleoperating it with an Xbox Controller.
Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot's capabilities by teleoperating it with an Xbox Controller.
![](./images/xbox.png)
**Note**: You will find the USB Dongle already plugged into the the USB port of the base trunk.
**Note**: You will find the USB Dongle already plugged into the USB port of the base trunk.
To start the demo after unboxing and turning the power on:
@ -61,30 +59,28 @@ To start the demo after unboxing and turning the power on:
* Hit the Home Robot button. Stretch will go through its homing calibration routine.
* **Note**: make sure the space around the robot is clear before running the Home function
You're ready to go! A few things to try:
You're ready to go! A few things to try:
* Hit the Stow Robot button. The robot will assume the stow pose.
* Practice driving the robot around.
* Pull the Fast Base trigger while driving. When stowed, it will make Stretch drive faster
* Manually stop the arm or lift from moving to make it stop upon contact.
* Try picking up your cellphone from the floor
* Try grasping cup from a counter top
* Try grasping a cup from a countertop
* Try delivering an object to a person
If you're done, let's power down. First attach the clip-clamp just below the shoulder as shown.
If you're done, let's power down. First, attach the clip-clamp just below the shoulder as shown.
![](./images/clip-clamp_rs.png)
Hold down the Shutdown PC button on the Xbox controller for 2 seconds. This will cause the PC to turn off. You can then power down the robot with the On/Off switch.
Now that you're familiar with the robot, take a minute to watch the [Stretch Powered Best Practices Video](https://youtu.be/iEaapHNfEWA). Please note that the best practices instructions for a Stretch 2 are the same as for a Stretch RE1.
Now that you're familiar with the robot, take a minute to watch the [Stretch Powered Best Practices Video](https://youtu.be/iEaapHNfEWA). Please note that the best practice instructions for a Stretch 2 are the same as for a Stretch RE1.
### Safe Handling
Like any robot, it is possible to break Stretch if you're not careful. Use common sense when applying forces to its joints, transporting it, etc.
The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provides a quick overview of how to work with the robot. Please note that the best practices instructions for a Stretch 2 are the same as for a Stretch RE1.
The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provides a quick overview of how to work with the robot. Please note that the best practice instructions for a Stretch 2 are the same as for a Stretch RE1.
**Things that won't hurt the robot**:
@ -98,14 +94,13 @@ The [Stretch Unpowered Best Practices Video](https://youtu.be/mQdOGEksdYM) provi
* Manually moving the head and wrist. They will move but they want to go at their own speed.
* The lift will slowly descend when the robot is powered off. If the arm is retracted it may come to rest the tool on the base. If desired to hold the arm up when un-powered, the provided 'clip-clamp' can be clipped onto the mast below the shoulder to support it.
**NOTE**: The Stretch 2 lift descends faster than the Stretch RE1. For Stretch 2 we recommend always attaching the clip-clamp prior to powering down the NUC computer
**NOTE**: The Stretch 2 lift descends faster than the Stretch RE1. For Stretch 2 we recommend always attaching the clip-clamp before powering down the NUC computer
**Things that can hurt the robot**:
* Driving the wrist and gripper into the base. When the arm and wrist are stowed it is possible to collide the two.
* Getting the gripper stuck on something and then driving the arm, lift, or base.
* Laying the robot down with it weight on its camera.
* Laying the robot down with its weight on its camera.
* Trying to ride on the robot, getting it wet, etc. (eg, common sense)
### Charging the Battery
@ -135,11 +130,11 @@ Log in to the robot computer. The default user credentials came in the box with
## Start Coding
Python is the easiest way to begin writing code for the robot. This section will give you a quick look at Stretch Body, which is the low level Python interface to the robot. Detailed information on the [Stretch Body Interface](../stretch_body/README.md) can be found here.
Python is the easiest way to begin writing code for the robot. This section will give you a quick look at Stretch Body, which is the low-level Python interface to the robot. Detailed information on the [Stretch Body Interface](../stretch_body/README.md) can be found here.
**NOTE**: Stretch is configured to run the XBox Controller demo in the background at startup. To run your own code you'll need kill off this process so that it doesn't contend with your code.
**NOTE**: Stretch is configured to run the Xbox Controller demo in the background at startup. To run your own code you'll need to kill this process so that it doesn't contend with your code.
```console
```{.bash .shell-prompt}
$ pkill -f stretch_xbox*
```
@ -147,28 +142,24 @@ While you're at it, disable this autoboot feature. You can always turn it back o
Search for 'Startup' from Ubuntu Activities. Uncheck the box for 'hello_robot_xbox_teleop'
![](./images/xbox_off_rs.png)
Now open up a Terminal. From the command line, first, verify that all of the hardware is present and happy
Now open up a Terminal. From the command line, first verify that that all of the hardware is present and happy
```console
```{.bash .shell-prompt}
$ stretch_robot_system_check.py
```
You may see a few joints reported in red because they haven't yet been calibrated. If so, home the robot
```console
```{.bash .shell-prompt}
$ stretch_robot_home.py
```
Once the robot has homed, let's write some quick test code:
```bash
>>$ ipython
```{.bash .shell-prompt}
$ ipython
Python 3.8.10 (default, Jun 22 2022, 20:18:18)
...
```
@ -209,21 +200,19 @@ robot.stow()
robot.stop()
```
## Change Credentials
Finally, we recommend that you change the login credentials for the default user, hello-robot.
```console
```{.bash .shell-prompt}
$ sudo passwd hello-robot
```
If you'd like to setup a new user account, check out the [Stretch Installation Guide](https://github.com/hello-robot/stretch_install/blob/master/README.md). In a lab setting, it's useful for lab members to have their own user accounts to run experiments.
If you'd like to set up a new user account, check out the [Stretch Installation Guide](https://github.com/hello-robot/stretch_install/blob/master/README.md). In a lab setting, it's useful for lab members to have their own user accounts to run experiments.
## Power Down
The recommended power down procedure is
The recommended power-down procedure is
1. Place a clamp on the mast below the shoulder to prevent a slow drop (if this is a concern)
2. Shutdown the computer from the Desktop
@ -233,15 +222,15 @@ The recommended power down procedure is
## Join the Community Forum
Join the [Hello Robot Community](https://forum.hello-robot.com). We'd welcome hearing your feedback as you get to know your robot.
Join the [Hello Robot Community](https://forum.hello-robot.com). We'd welcome hearing your feedback as you get to know your robot.
Hello Robot support monitors the forum closely and will quickly get back to you on any questions or issues you post.
## Further Exploration
Encounter any issues while getting started? Please let us know at support@hello-robot.com. Also take a minute to review the [Stretch Troubleshooting Guide](./troubleshooting_guide.md)
Encounter any issues while getting started? Please let us know at support@hello-robot.com. Also, take a minute to review the [Stretch Troubleshooting Guide](./troubleshooting_guide.md)
We recommend next exploring the ROS based demos that ship with Stretch. These [are found in the stretch_ros repository](https://docs.hello-robot.com/0.2/stretch-ros/stretch_demos/).
We recommend next exploring the ROS-based demos that ship with Stretch. These [are found in the stretch_ros repository](https://docs.hello-robot.com/0.2/stretch-ros/stretch_demos/).
That's it. Happy coding!

+ 8
- 10
ros1/rviz_basics.md View File

@ -1,15 +1,13 @@
## Visualizing with RViz
You can utilize RViz to visualize Stretch's sensor information. To begin, run the stretch driver launch file.
You can utilize RViz to visualize Stretch's sensor information. To begin, in a terminal, run the stretch driver launch file.
```bash
# Terminal 1
roslaunch stretch_core stretch_driver.roslaunch
roslaunch stretch_core stretch_driver.launch
```
Then run the following command to bring up a simple RViz configuration of the Stretch robot.
Then run the following command in a separate terminal to bring up a simple RViz configuration of the Stretch robot.
```bash
# Terminal 2
rosrun rviz rviz -d `rospack find stretch_core`/rviz/stretch_simple_test.rviz
```
An RViz window should open, allowing you to see the various DisplayTypes in the display tree on the left side of the window.
@ -18,25 +16,25 @@ An RViz window should open, allowing you to see the various DisplayTypes in the
<img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/simple_rviz.png"/>
</p>
If you want the visualize Stretch's [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you need to add the display type to the RViz window. First, click the *Add* button and include the *TF* type in the display. You will then see all of the transform frames of the Stretch robot, and the visualization can be toggled off and on by clicking the checkbox next to the tree. Below is a gif for reference.
If you want to visualize Stretch's [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you need to add the display type to the RViz window. First, click the *Add* button and include the *TF* type in the display. You will then see all of the transform frames of the Stretch robot, and the visualization can be toggled off and on by clicking the checkbox next to the tree. Below is a gif for reference.
<p align="center">
<img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/rviz_adding_tf.gif"/>
</p>
There are further tutorials for RViz and can be found [here](http://wiki.ros.org/rviz/Tutorials).
There are further tutorials for RViz which can be found [here](http://wiki.ros.org/rviz/Tutorials).
## Running RViz and Gazebo (Simulation)
Let's bringup stretch in the willowgarage world from the [gazebo basics tutorial](gazebo_basics.md) and RViz by using the following command.
Let's bring up Stretch in the willow garage world from the [gazebo basics tutorial](gazebo_basics.md) and RViz by using the following command.
```bash
roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world rviz:=true
```
the `rviz` flag will open an RViz window to visualize a variety of ROS topics.
the `rviz` flag will open an RViz window to visualize a variety of ROS topics.
<p align="center">
<img src="https://raw.githubusercontent.com/hello-robot/stretch_tutorials/noetic/images/willowgarage_with_rviz.png"/>
</p>
Bringup the [keyboard teleop](teleoperating_stretch.md) to drive Stretch and observe its sensor input.
Bring up the [keyboard teleop](teleoperating_stretch.md) node to drive Stretch and observe its sensor input.

Write Preview
Loading…
Cancel
Save