From 72c387139e72856e7716e2a1a59936cedcbdea6b Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Wed, 31 Aug 2022 09:52:36 -0700 Subject: [PATCH] Included the node link to the markdown file. --- example_1.md | 2 +- example_10.md | 8 ++++---- example_11.md | 2 +- example_12.md | 2 +- example_13.md | 2 +- example_2.md | 2 +- example_3.md | 2 +- example_4.md | 2 +- example_5.md | 2 +- example_6.md | 2 +- example_7.md | 2 +- example_8.md | 2 +- example_9.md | 4 ++-- 13 files changed, 17 insertions(+), 17 deletions(-) diff --git a/example_1.md b/example_1.md index 3edb527..e4fce85 100644 --- a/example_1.md +++ b/example_1.md @@ -12,7 +12,7 @@ Begin by running the following command in a new terminal. roslaunch stretch_core stretch_driver.launch ``` -Switch the mode to *navigation* mode using a rosservice call. Then drive the robot forward with the `move` node. +Switch the mode to *navigation* mode using a rosservice call. Then drive the robot forward with the [move.py](https://github.com/hello-robot/stretch_tutorials/tree/noetic/src) node. ```bash # Terminal 2 diff --git a/example_10.md b/example_10.md index cea0163..748806e 100644 --- a/example_10.md +++ b/example_10.md @@ -18,7 +18,7 @@ Within this tutorial package, there is an RViz config file with the topics for t # Terminal 2 rosrun rviz rviz -d /home/hello-robot/catkin_ws/src/stretch_tutorials/rviz/tf2_broadcaster_example.rviz ``` -Then run the tf2 broadcaster node to visualize three static frames. +Then run the [tf2_broadcaster.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/tf2_broadcaster.py) node to visualize three static frames. ```bash # Terminal 3 @@ -31,7 +31,7 @@ The gif below visualizes what happens when running the previous node.

-**OPTIONAL**: If you would like to see how the static frames update while the robot is in motion, run the stow command node and observe the tf frames in RViz. +**OPTIONAL**: If you would like to see how the static frames update while the robot is in motion, run the [stow_command_node.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/stow_command.py) and observe the tf frames in RViz. ```bash # Terminal 4 @@ -202,14 +202,14 @@ Begin by starting up the stretch driver launch file. # Terminal 1 roslaunch stretch_core stretch_driver.launch ``` -Then run the tf2 broadcaster node to create the three static frames. +Then run the [tf2_broadcaster.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/tf2_broadcaster.py) node to create the three static frames. ```bash # Terminal 2 cd catkin_ws/src/stretch_tutorials/src/ python3 tf2_broadcaster.py ``` -Finally, run the tf2 listener node to print the transform between two links. +Finally, run the [tf2_listener.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/tf2_listener.py) node to print the transform between two links. ```bash # Terminal 3 diff --git a/example_11.md b/example_11.md index a35d832..06bae3d 100644 --- a/example_11.md +++ b/example_11.md @@ -14,7 +14,7 @@ To activate the [RealSense camera](https://www.intelrealsense.com/depth-camera-d # Terminal 2 roslaunch stretch_core d435i_low_resolution.launch ``` -Then run the `PointCloud` transformer node. +Then run the [pointCloud_transformer.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/pointcloud_transformer.py) node. ```bash # Terminal 3 diff --git a/example_12.md b/example_12.md index 64ae220..6378875 100644 --- a/example_12.md +++ b/example_12.md @@ -46,7 +46,7 @@ Within this tutorial package, there is an RViz config file with the topics for t rosrun rviz rviz -d /home/hello-robot/catkin_ws/src/stretch_tutorials/rviz/aruco_detector_example.rviz ``` -Then run the aruco tag locator node. +Then run the [aruco_tag_locator.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/aruco_tag_locator.py) node. ```bash # Terminal 5 diff --git a/example_13.md b/example_13.md index c2e6923..4410e79 100644 --- a/example_13.md +++ b/example_13.md @@ -21,7 +21,7 @@ Where `${HELLO_FLEET_PATH}` is the path of the `.yaml` file.

-Now we are going to use a node to send a a move base goal half a meter in front of the map's origin. run the following command to execute the [navigation.py](https://github.com/hello-robot/stretch_tutorials/blob/main/src/navigation.py) node. +Now we are going to use a node to send a a move base goal half a meter in front of the map's origin. run the following command to execute the [navigation.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/navigation.py) node. ```bash # Terminal 2 diff --git a/example_2.md b/example_2.md index 8b71bcd..a89c302 100644 --- a/example_2.md +++ b/example_2.md @@ -50,7 +50,7 @@ Then in a new terminal run the `rplidar.launch` file from `stretch_core`. roslaunch stretch_core rplidar.launch ``` -To filter the lidar scans for ranges that are directly in front of Stretch (width of 1 meter) run the scan filter node by typing the following in a new terminal. +To filter the lidar scans for ranges that are directly in front of Stretch (width of 1 meter) run the [scan_filter.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/scan_filter.py) node by typing the following in a new terminal. ```bash # Terminal 3 diff --git a/example_3.md b/example_3.md index 7e469bb..cf2c90d 100644 --- a/example_3.md +++ b/example_3.md @@ -14,7 +14,7 @@ Then in a new terminal type the following to activate the LiDAR sensor. roslaunch stretch_core rplidar.launch ``` -To set *navigation* mode and to activate the avoider node, type the following in a new terminal. +To set *navigation* mode and to activate the [avoider.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/avoider.py) node, type the following in a new terminal. ```bash # Terminal 3 diff --git a/example_4.md b/example_4.md index 89f4978..1432d84 100644 --- a/example_4.md +++ b/example_4.md @@ -9,7 +9,7 @@ Let's bringup stretch in the willowgarage world from the [gazebo basics tutorial # Terminal 1 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. In a new terminal run the following commands to create a marker. +the `rviz` flag will open an RViz window to visualize a variety of ROS topics. In a new terminal run the following commands to execute the [marker.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/marker.py) node. ```bash # Terminal 2 diff --git a/example_5.md b/example_5.md index 754a772..2cf7c5b 100644 --- a/example_5.md +++ b/example_5.md @@ -10,7 +10,7 @@ Begin by starting up the stretch driver launch file. # Terminal 1 roslaunch stretch_core stretch_driver.launch ``` -You can then hit the run-stop button (you should hear a beep and the LED light in the button blink) and move the robot's joints to a desired configuration. Once you are satisfied with the configuration, hold the run-stop button until you hear a beep. Then run the following command to print the joint positions of the lift, arm, and wrist. +You can then hit the run-stop button (you should hear a beep and the LED light in the button blink) and move the robot's joints to a desired configuration. Once you are satisfied with the configuration, hold the run-stop button until you hear a beep. Then run the following command to excecute the [joint_state_printer.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/joint_state_printer.py) which will print the joint positions of the lift, arm, and wrist. ```bash cd catkin_ws/src/stretch_tutorials/src/ diff --git a/example_6.md b/example_6.md index 11aaede..04db622 100644 --- a/example_6.md +++ b/example_6.md @@ -12,7 +12,7 @@ Begin by running the following command in the terminal in a terminal. # Terminal 1 roslaunch stretch_core stretch_driver.launch ``` -Switch the mode to *position* mode using a rosservice call. Then run the single effort sensing node. +Switch the mode to *position* mode using a rosservice call. Then run the [effort_sensing.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/effort_sensing.py) node. ```bash # Terminal 2 diff --git a/example_7.md b/example_7.md index bd7b93f..ea7a7c1 100644 --- a/example_7.md +++ b/example_7.md @@ -46,7 +46,7 @@ rosrun image_view image_saver image:=/camera/color/image_raw_upright_view ## Capture Image with Python Script -In this section, you can use a Python node to capture an image from the [RealSense camera](https://www.intelrealsense.com/depth-camera-d435i/). Run the following commands to save a .jpeg image of the image topic */camera/color/image_raw_upright_view*. +In this section, you can use a Python node to capture an image from the [RealSense camera](https://www.intelrealsense.com/depth-camera-d435i/). Execute the [capture_image.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/capture_image.py) node to save a .jpeg image of the image topic */camera/color/image_raw_upright_view*. ```bash # Terminal 4 diff --git a/example_8.md b/example_8.md index da1e8c6..3efad5f 100644 --- a/example_8.md +++ b/example_8.md @@ -11,7 +11,7 @@ Begin by running the `respeaker.launch` file in a terminal. # Terminal 1 roslaunch respeaker_ros sample_respeaker.launch ``` -Then run the speech_text node. +Then run the [speech_text.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/speech_text.py) node. ```bash # Terminal 2 diff --git a/example_9.md b/example_9.md index 2946a17..adfc5aa 100644 --- a/example_9.md +++ b/example_9.md @@ -8,14 +8,14 @@ Begin by running the following command in a new terminal. # Terminal 1 roslaunch stretch_core stretch_driver.launch ``` -Switch the mode to *position* mode using a rosservice call. Then run the `respeaker.launch`. +Switch the mode to *position* mode using a rosservice call. Then run the `respeaker.launch` file. ```bash # Terminal 2 rosservice call /switch_to_position_mode roslaunch stretch_core respeaker.launch ``` -Then run the voice teleoperation base node in a new terminal. +Then run the [voice_teleoperation_base.py](https://github.com/hello-robot/stretch_tutorials/blob/noetic/src/voice_teleoperation_base.py) node in a new terminal. ```bash # Terminal 3