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      getting_started/README.md
  2. +5
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getting_started/README.md View File

@ -4,16 +4,16 @@ New to Stretch? Welcome!
Please take the time to get to know your robot by going through these tutorials in order.
# 1. Basics
| Tutorial | Description |
|---------------------------------------------------------|----------------------------------------------------|
| [Safety Guide](safety_guide.md) | Guide to safe operation of the Stretch RE1 and RE2 |
| [Quick Start](quick_start_guide.md) | Unboxing Stretch and getting started |
| [Best Practices](best_practices.md) | Best practices to keep Stretch safe and healthy |
| [Troubleshooting](troubleshooting_guide.md) | Solutions to common issues |
## Basics
| ID | Tutorial | Description |
|-----|---------------------------------------------|----------------------------------------------------|
| 1 | [Safety Guide](safety_guide.md) | Guide to safe operation of the Stretch RE1 and RE2 |
| 2 | [Quick Start](quick_start_guide.md) | Unboxing Stretch and getting started |
| 3 | [Best Practices](best_practices.md) | Best practices to keep Stretch safe and healthy |
| 4 | [Troubleshooting](troubleshooting_guide.md) | Solutions to common issues |
# 2. Advanced
| Tutorial | Description |
|-------------------------------------------------|---------------------------------------------------------|
| [Network Setup](untethered_operation.md) | Setting up your network to work with Stretch untethered |
| [Updating Software](updating_software.md) | How to periodically update the Stretch software |
## Advanced
| ID |Tutorial | Description |
|-----|----------------------------------|---------------------------------------------------------|
| 1 | [Untethered Operation](untethered_operation.md) | Setting up your network to work with Stretch untethered |
| 2 | [Updating Software](updating_software.md) | How to periodically update the Stretch software |

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mkdocs.yml View File

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nav:
- Getting to Know Stretch:
- Overview: ./getting_started/README.md
- Robot Safety: ./getting_started/safety_guide.md
- Quick Start: ./getting_started/quick_start_guide.md
- Best Practices: ./getting_started/best_practices.md
- Troubleshooting: ./getting_started/troubleshooting.md
- Basics:
- Robot Safety: ./getting_started/safety_guide.md
- Quick Start: ./getting_started/quick_start_guide.md
- Best Practices: ./getting_started/best_practices.md
- Troubleshooting: ./getting_started/troubleshooting_guide.md
- Advanced:
- Untethered Operation: ./getting_started/untethered_operation.md
- Updating Software: ./getting_started/updating_software.md

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ros1/README.md View File

@ -3,35 +3,41 @@
This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS1. We recommend going through the tutorials in the following order:
## Stretch ROS1 Tutorials
1. [Getting Started](getting_started.md)
2. [Gazebo Basics](gazebo_basics.md)
3. [Teleoperating Stretch](teleoperating_stretch.md)
4. [Internal State of Stretch](internal_state_of_stretch.md)
5. [RViz Basics](rviz_basics.md)
6. [Navigation Stack](navigation_stack.md)
7. [MoveIt! Basics](moveit_basics.md)
8. [Follow Joint Trajectory Commands](follow_joint_trajectory.md)
9. [Perception](perception.md)
10. [ArUco Marker Detection](aruco_marker_detection.md)
11. [ReSpeaker Microphone Array](respeaker_microphone_array.md)
12. [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap)
13. ROS testing
14. Other Nav Stack Features
## Basics
| ID | Tutorial | Description |
|-----|---------------------------------------------------------------------------------|----------------------------------------------------|
| 1 | [Getting Started](getting_started.md) | |
| 2 | [Gazebo Basics](gazebo_basics.md) | |
| 3 | [Teleoperating Stretch](teleoperating_stretch.md) | |
| 4 | [Internal State of Stretch](internal_state_of_stretch.md) | |
| 5 | [RViz Basics](rviz_basics.md) | |
| 6 | [Navigation Stack](navigation_stack.md) | |
| 7 | [MoveIt! Basics](moveit_basics.md) | |
| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | |
| 9 | [Perception](perception.md) | |
| 10 | [ArUco Marker Detection](aruco_marker_detection.md) | |
| 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md) | |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | |
| 13 | [ROS testing](ros_testing.md) | |
| 14 | [Other Nav Stack Features](other_nav_features.md) | |
## Other ROS1 Examples
## Other Examples
To help get you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.
1. [Teleoperate Stretch with a Node](example_1.md) - Use a python script that sends velocity commands.
2. [Filter Laser Scans](example_2.md) - Publish new scan ranges that are directly in front of Stretch.
3. [Mobile Base Collision Avoidance](example_3.md) - Stop Stretch from running into a wall.
4. [Give Stretch a Balloon](example_4.md) - Create a "balloon" marker that goes where ever Stretch goes.
5. [Print Joint States](example_5.md) - Print the joint states of Stretch.
6. [Store Effort Values](example_6.md) - Print, store, and plot the effort values of the Stretch robot.
7. [Capture Image](example_7.md) - Capture images from the RealSense camera data.
8. [Voice to Text](example_8.md) - Interpret speech and save transcript to a text file.
9. [Voice Teleoperation of Base](example_9.md) - Use speech to teleoperate the mobile base.
10. [Tf2 Broadcaster and Listener](example_10.md) - Create a tf2 broadcaster and listener.
11. [PointCloud Transformation](example_11.md) - Convert PointCloud2 data to a PointCloud and transform to a different frame.
12. [ArUco Tag Locator](example_12.md) - Actuate the head to locate a requested ArUco marker tag and return a transform.
| ID | Tutorial | Description |
|-----|-------------------------------------------------|----------------------------------------------------|
| 1 | [Teleoperate Stretch with a Node](example_1.md) | Use a python script that sends velocity commands. |
| 2 | [Filter Laser Scans](example_2.md) | Publish new scan ranges that are directly in front of Stretch.|
| 3 | [Mobile Base Collision Avoidance](example_3.md) | Stop Stretch from running into a wall.|
| 4 | [Give Stretch a Balloon](example_4.md) | Create a "balloon" marker that goes where ever Stretch goes.|
| 5 | [Print Joint States](example_5.md) | Print the joint states of Stretch.|
| 6 | [Store Effort Values](example_6.md) | Print, store, and plot the effort values of the Stretch robot.|
| 7 | [Capture Image](example_7.md) | Capture images from the RealSense camera data.|
| 8 | [Voice to Text](example_8.md) | Interpret speech and save transcript to a text file.|
| 9 | [Voice Teleoperation of Base](example_9.md) | Use speech to teleoperate the mobile base.|
| 10 | [Tf2 Broadcaster and Listener](example_10.md) | Create a tf2 broadcaster and listener.|
| 11 | [PointCloud Transformation](example_11.md) | Convert PointCloud2 data to a PointCloud and transform to a different frame.|
| 12 | [ArUco Tag Locator](example_12.md) | Actuate the head to locate a requested ArUco marker tag and return a transform.|

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ros1/other_nav_features.md View File

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Coming soon

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ros2/README.md View File

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This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS2. We recommend going through the tutorials in the following order:
## Stretch ROS2 Tutorials
1. [Getting Started](getting_started.md)
2. [Gazebo Basics](gazebo_basics.md)
3. [Teleoperating Stretch](teleoperating_stretch.md)
4. [Internal State of Stretch](internal_state_of_stretch.md)
5. [RViz Basics](rviz_basics.md)
6. [Navigation Stack](navigation_stack.md)
7. [MoveIt! Basics](moveit_basics.md)
8. [Follow Joint Trajectory Commands](follow_joint_trajectory.md)
9. [Perception](perception.md)
10. [ArUco Marker Detection](aruco_marker_detection.md)
11. [ReSpeaker Microphone Array](respeaker_microphone_array.md)
12. [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap)
13. ROS testing
14. Other Nav Stack Features
## Basics
| ID | Tutorial | Description |
|-----|---------------------------------------------------------------------------------|----------------------------------------------------|
| 1 | [Getting Started](getting_started.md) | |
| 2 | [Gazebo Basics](gazebo_basics.md) | |
| 3 | [Teleoperating Stretch](teleoperating_stretch.md) | |
| 4 | [Internal State of Stretch](internal_state_of_stretch.md) | |
| 5 | [RViz Basics](rviz_basics.md) | |
| 6 | [Navigation Stack](navigation_stack.md) | |
| 7 | [MoveIt! Basics](moveit_basics.md) | |
| 8 | [Follow Joint Trajectory Commands](follow_joint_trajectory.md) | |
| 9 | [Perception](perception.md) | |
| 10 | [ArUco Marker Detection](aruco_marker_detection.md) | |
| 11 | [ReSpeaker Microphone Array](respeaker_microphone_array.md) | |
| 12 | [FUNMAP](https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap) | |
| 13 | [ROS testing](ros_testing.md) | |
| 14 | [Other Nav Stack Features](other_nav_features.md) | |
## Other ROS2 Examples
## Other Examples
To help get you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.
1. [Teleoperate Stretch with a Node](example_1.md) - Use a python script that sends velocity commands.
2. [Filter Laser Scans](example_2.md) - Publish new scan ranges that are directly in front of Stretch.
3. [Mobile Base Collision Avoidance](example_3.md) - Stop Stretch from running into a wall.
4. [Give Stretch a Balloon](example_4.md) - Create a "balloon" marker that goes where ever Stretch goes.
5. [Print Joint States](example_5.md) - Print the joint states of Stretch.
6. [Store Effort Values](example_6.md) - Print, store, and plot the effort values of the Stretch robot.
7. [Capture Image](example_7.md) - Capture images from the RealSense camera data.
8. [Voice to Text](example_8.md) - Interpret speech and save transcript to a text file.
9. [Voice Teleoperation of Base](example_9.md) - Use speech to teleoperate the mobile base.
10. [Tf2 Broadcaster and Listener](example_10.md) - Create a tf2 broadcaster and listener.
11. [PointCloud Transformation](example_11.md) - Convert PointCloud2 data to a PointCloud and transform to a different frame.
12. [ArUco Tag Locator](example_12.md) - Actuate the head to locate a requested ArUco marker tag and return a transform.
| ID | Tutorial | Description |
|-----|-------------------------------------------------|----------------------------------------------------|
| 1 | [Teleoperate Stretch with a Node](example_1.md) | Use a python script that sends velocity commands. |
| 2 | [Filter Laser Scans](example_2.md) | Publish new scan ranges that are directly in front of Stretch.|
| 3 | [Mobile Base Collision Avoidance](example_3.md) | Stop Stretch from running into a wall.|
| 4 | [Give Stretch a Balloon](example_4.md) | Create a "balloon" marker that goes where ever Stretch goes.|
| 5 | [Print Joint States](example_5.md) | Print the joint states of Stretch.|
| 6 | [Store Effort Values](example_6.md) | Print, store, and plot the effort values of the Stretch robot.|
| 7 | [Capture Image](example_7.md) | Capture images from the RealSense camera data.|
| 8 | [Voice to Text](example_8.md) | Interpret speech and save transcript to a text file.|
| 9 | [Voice Teleoperation of Base](example_9.md) | Use speech to teleoperate the mobile base.|
| 10 | [Tf2 Broadcaster and Listener](example_10.md) | Create a tf2 broadcaster and listener.|
| 11 | [PointCloud Transformation](example_11.md) | Convert PointCloud2 data to a PointCloud and transform to a different frame.|
| 12 | [ArUco Tag Locator](example_12.md) | Actuate the head to locate a requested ArUco marker tag and return a transform.|

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stretch_body/README.md View File

@ -5,24 +5,24 @@
Stretch Body currently supports both Python2 and Python3. These tutorials assume a general familiarity with Python as well as basic robot motion control.
# 1. Basics
| Tutorial | Description |
|------------------------------------------------------|-----------------------------------------------------|
| [Safe Coding](tutorial_safe_coding.md) | Best practices in writing safe Stretch Body code |
| [Command line Tools](tutorial_command_line_tools.md) | Introduction to the Stretch Body command line tools |
| [Simple Coding](tutorial_simple_coding.py) | Simple examples of writing Stretch Body code |
| [Robot Motion](tutorial_robot_motion.md) | Exploring how to command robot motion |
| [Robot Sensors](tutorial_robot_sensors.md) | Exploring how to read robot sensors |
# 2. Advanced
| Tutorial | Description |
|----------------------------------------------------------|-------------------------------------------------------------|
| [Dynamixel Servos](tutorial_dynamixel_servos.md) | How to configure and work with the Stretch Dynamixel servos |
| [Parameter Management](tutorial_parameter_management.md) | How to work with Stretch's parameter system |
| [Splined Trajectories](tutorial_splined_trajectories.md) | How to generated coordinated, smooth, and full-body motion |
| [Collision Avoidance](tutorial_collision_avoidance.md) | How to work with Stretch's collision avoidance system |
| [Changing Tools](tutorial_tool_change.md) | How to integrate 3rd party tools onto the Stretch wrist |
## Basics
| ID | Tutorial | Description |
|-----|------------------------------------------------------|-----------------------------------------------------|
| 1 | [Safe Coding](tutorial_safe_coding.md) | Best practices in writing safe Stretch Body code |
| 2 | [Command line Tools](tutorial_command_line_tools.md) | Introduction to the Stretch Body command line tools |
| 3 | [Simple Coding](tutorial_simple_coding.py) | Simple examples of writing Stretch Body code |
| 4 | [Robot Motion](tutorial_robot_motion.md) | Exploring how to command robot motion |
| 5 | [Robot Sensors](tutorial_robot_sensors.md) | Exploring how to read robot sensors |
## Advanced
| ID | Tutorial | Description |
|-----|----------------------------------------------------------|-------------------------------------------------------------|
| 1 | [Dynamixel Servos](tutorial_dynamixel_servos.md) | How to configure and work with the Stretch Dynamixel servos |
| 2 | [Parameter Management](tutorial_parameter_management.md) | How to work with Stretch's parameter system |
| 3 | [Splined Trajectories](tutorial_splined_trajectories.md) | How to generated coordinated, smooth, and full-body motion |
| 4 | [Collision Avoidance](tutorial_collision_avoidance.md) | How to work with Stretch's collision avoidance system |
| 5 | [Changing Tools](tutorial_tool_change.md) | How to integrate 3rd party tools onto the Stretch wrist |

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