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.
Note: Make sure the USB Dongle is plugged into the the USB port of the base trunk.
To start the demo:
* Remove the 'trunk' cover and power on the robot
Wait for about 45 seconds. You will hear the Ubuntu startup sound, followed by two beeps (indicating the demo is running).
* Hit the Connect button on the controller. The upper two LEDs of the ring will illuminate.
* 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:
First, [startup Stretch in simulation](gazebo_basics.md). Then in a separate terminal type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
* 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 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.
### Keyboard Teleoperating
To teleoperate a Stretch's **mobile base** with the keyboard you first need to type the following command
Below is the keyboard commands that allow a user to move Stretch.
```
@ -35,42 +69,25 @@ currently: speed 0.5 turn 1.0
```
The keyboard teleop node remaps the *cmd_vel* topics to */stretch_diff_drive_controller/cmd_vel*, which the robot takes velocity commands from.
The keyboard teleop node remaps the *cmd_vel* topics to */stretch/cmd_vel*, which the robot takes velocity commands from.
An alternative for robot base teleoperation is to use an Xbox controller. Start by stopping the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine through cable or dongle and run the following command.
### Create a node for Teleoperating
To move Stretch's mobile base using a ROS node, please look at [example 1](example_1.md) for reference.
```bash
roslaunch stretch_gazebo teleop_joy.launch
```
Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless it is being pressed. For an Logitech F310 joystick this button is A.
## Teleoperating the Actual Robot
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.
Note: Make sure the USB Dongle is plugged into the the USB port of the base trunk.
To start the demo:
## Teleoperating in Gazebo
* Remove the 'trunk' cover and power on the robot
Wait for about 45 seconds. You will hear the Ubuntu startup sound, followed by two beeps (indicating the demo is running).
* Hit the Connect button on the controller. The upper two LEDs of the ring will illuminate.
* 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
For keyboard teleoperation, first [startup Stretch in simulation](gazebo_basics.md). Then run the following command in a new terminal.
You're ready to go! A few things to try:
```bash
roslaunch stretch_gazebo
```
* 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 delivering an object to a person
An alternative for robot base teleoperation is to use an Xbox controller. Start by stopping the keyboard teleoperation node by typing **Ctrl** + **c** in the terminal where the command was executed. Then connect the Xbox controller device to your local machine through cable or dongle and run the following command.
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.
```bash
roslaunch stretch_gazebo teleop_joy.launch
```
Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless it is being pressed. For an Logitech F310 joystick this button is A.
**Next Tutorial:** [Internal State of Stretch](internal_state_of_stretch.md)
hello-sanchez
3 years ago