@ -34,7 +34,7 @@ The provided battery charger can be plugged and unplugged at any time during ope
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged batteries. |
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re1/) for proper care and charging of Stretch batteries.
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re1//) for proper care and charging of Stretch batteries.
@ -37,7 +37,7 @@ The provided battery charger can be plugged and unplugged at any time during ope
| SUPPLY | 1) Power the robot during tethered use<br/>2) Repair damaged batteries. |
| REPAIR | Repair damaged batteries. |
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/battery_maintenance_guide_re1/) for proper care and charging of Stretch batteries.
Please review the [Battery Maintenance Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re2/) for proper care and charging of Stretch batteries.
**NOTE**: ROS 2 tutorials are still under active development.
The aim of example 3 is to combine the two previous examples and have Stretch utilize its laser scan data to avoid collision with objects as it drives forward.
**NOTE**: ROS 2 tutorials are still under active development.
Stretch driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api/control_msgs/html/action/FollowJointTrajectory.html) action service for its arm. Within this tutorial we will have a simple FollowJointTrajectory command sent to a Stretch robot to execute.
**NOTE**: ROS 2 tutorials are still under active development.
### NOTE
Simulation support for Stretch in ROS 2 is under active development. Please reach out to us if you want to work with Stretch in a simulated environment like Gazebo/Ignition in ROS 2.
**NOTE**: ROS 2 tutorials are still under active development.
## Installing Ubuntu 20.04 with ROS 2 Galactic on Stretch
Hello Robot utilizes Ubuntu, an open source Linux operating system, for the Stretch RE1 platform. If you are unfamiliar with the operating system, we encourage you to review a [tutorial](https://ubuntu.com/tutorials/command-line-for-beginners#1-overview) provided by Ubuntu. Additionally, the Linux command line, BASH, is used to execute commands and is needed to run ROS on the Stretch robot. Here is a [tutorial](https://ryanstutorials.net/linuxtutorial/) on getting started with BASH.
This will runs all of the planning capabilities, but without the setup, simulation and interface that the above demo provides. In order to create plans for the robot with the same interface as the offline demo, you can run
@ -5,7 +5,7 @@ In this tutorial we explore how to add additional degrees of freedom to the Stre
Stretch exposes a Dynamixel X-Series TTL control bus at the end of its arm. It uses the [Dynamixel XL430-W250](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/) for the [WristYaw](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/wrist_yaw.py) and the [StretchGripper](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/stretch_gripper.py) degrees of freedom that come standard with the robot.
See the [Hardware User Guide](https://docs.hello-robot.com/hardware_user_guide/#wrist) to learn how to mechanically attach additional DOFs to the robot.
See the [Hardware User Guide](https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/hardware_guide_re2/#wrist-tool-plate) to learn how to mechanically attach additional DOFs to the robot.
**Note: Stretch is compatible with [any Dynamixel X Series servo](https://emanual.robotis.com/docs/en/dxl/x/) that utilizes the TTL level Multidrop Bus.**
@ -100,7 +100,8 @@ Sometimes the robot motion isn't quite what is expected when executing a splined
For example, the arm trajectory below has a large excursion outside of the joints range of motion (white). This is because the second waypoint expects a non-zero velocity when the arm reaches full extension.
<imgsrc="./images/bad_trajectory.png"/>
Often the trajectory waypoints will be generated from a motion planner. It is important that this planner incorporates the position, velocity, and acceleration constraints of the joint. These can be found by, for example
Stretch Body is the Python interface to working with the Stretch RE1. This page serves as a reference of the interfaces defined in the `stretch_body` library.
See the [Stretch Body Tutorials](shttps://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/) for additional information on working with this library.
See the [Stretch Body Tutorials](https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/) for additional information on working with this library.
Aaron Edsinger
2 years ago