From ae743d6ec2517608f2d23c7e9cb88cb28538263d Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Mon, 15 Jul 2024 23:13:18 -0400 Subject: [PATCH] progress --- mkdocs_rt.yml | 1 + ros2/getting_started.md | 11 +++++++---- ros2/images/stretch_transforms.png | Bin 0 -> 29587 bytes ros2/images/tf2_frame.png | Bin 0 -> 2232 bytes ros2/images/tf2_transform.png | Bin 0 -> 5860 bytes ros2/tf2.md | 24 ++++++++++++++++++++++++ 6 files changed, 32 insertions(+), 4 deletions(-) create mode 100644 ros2/images/stretch_transforms.png create mode 100644 ros2/images/tf2_frame.png create mode 100644 ros2/images/tf2_transform.png create mode 100644 ros2/tf2.md diff --git a/mkdocs_rt.yml b/mkdocs_rt.yml index 1a8029f..a6dee8f 100644 --- a/mkdocs_rt.yml +++ b/mkdocs_rt.yml @@ -84,6 +84,7 @@ extra: nav: - Getting Started: ./getting_started.md - Robot Drivers: ./robot_drivers.md + - The Transform Tree: ./tf2.md # - Writing Nodes: ./writing_nodes.md # TODO - Navigation with Nav2: - Overview: ./navigation_overview.md diff --git a/ros2/getting_started.md b/ros2/getting_started.md index e071ff4..7ebdd7e 100644 --- a/ros2/getting_started.md +++ b/ros2/getting_started.md @@ -6,10 +6,13 @@ This tutorial series covers writing ROS 2 software for Stretch. ROS 2 programs c Ensure that: - 1. Your Stretch has the latest robot distribution installed - - These tutorials were written for the latest robot distribution. Take a look at the [Distributions & Roadmap](../../../software/distributions/) guide to identify your current distribution and upgrade if necessary. - 2. You are comfortable developing with Stretch - - If you've never developed with Stretch before or are new to programming, check out the [Developing with Stretch](../../developing/basics/) tutorial series. In particular, the [Using ROS 2 with Stretch](#TODO) tutorial from that series is a good resource for those new to ROS 2. + 1. Your Stretch has the latest software installed + - These tutorials were written for Ubuntu 22.04 and ROS2 Humble. Take a look at the [Distributions & Roadmap](../../../software/distributions/) guide to identify your current distribution and upgrade if necessary. + 2. You are comfortable with Linux, the command line, and Python + - If you are new to programming, check out the [Developing with Stretch](../../developing/basics/) tutorial series. + 3. Your Stretch is able to move freely about its environment + - Use an untethered set-up to connect to your robot, such as Remote Desktop software or using SSH + ROS2 networking. These tutorials were written assuming you've set up the [Moonlight Remote Desktop software](../../getting_started/connecting_to_stretch#untethered-setup) from the Getting Started tutorial series. +