**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.
@ -38,7 +38,7 @@ ros2 run stretch_ros_tutorials stow_command
The above message tells you everything you need to know about a scan. Most importantly, you have the angle of each hit and its distance (range) from the scanner. If you want to work with raw range data, then the above message is all you need. There is also an image below that illustrates the components of the message type.
For a Stretch robot the start angle of the scan, `angle_min`, and
end angle, `angle_max`, are closely located along the x-axis of Stretch's frame. `angle_min` and `angle_max` are set at **-3.1416** and **3.1416**, respectively. This is illustrated by the images below.
Let's bringup stretch in RViz by using the following command.
@ -15,7 +15,7 @@ ros2 run stretch_ros_tutorials marker
```
The gif below demonstrates how to add a new *Marker* display type, and change the topic name from `visualization_marker` to `balloon`. A red sphere Marker should appear above the Stretch robot.
@ -9,9 +9,9 @@ Instructions on installing Ubuntu 20.04 with ROS Noetic and ROS 2 Galactic can b
## ROS 2 Tutorials Setup on Local Computer
Once your system is setup, clone the [stretch_ros_tutorials](https://github.com/hello-sanchez/stretch_ros_tutorials.git) to the src directory of the ament workspace, then build the packages.
The graph allows a user to observe and affirm if topics are broadcasted to the correct nodes. This method can also be utilized to debug communication issues.
This will brining up an RViz instance where you can move the robot around using [interactive markers](http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Getting%20Started) and create plans between poses. You can reference the bottom gif as a guide to plan and execute motion.
Additionally, the demo allows a user to select from the five groups, *stretch_arm*, *stretch_gripper*, *stretch_head*, *mobile_base_arm* and *position* to move. The option to change groups in the in *Planning Request* section in the *Displays* tree. A few notes to be kept in mind:
@ -34,7 +34,7 @@ Additionally, the demo allows a user to select from the five groups, *stretch_ar
* When planning with *stretch_head* group make sure you select *Approx IK Solutions* in Planning tab of Motion Planning RViz plugin.
Rviz will show the robot and the map that is being constructed. With the terminal open, use the instructions printed by the teleop package to teleoperate the robot around the room. Avoid sharp turns and revisit previously visited spots to form loop closures.
If you want to visualize Stretch's [tf transform tree](http://wiki.ros.org/rviz/DisplayTypes/TF), you need to add the display type to the RViz window. First, click on the *Add* button and include the *TF* type to the display. You will then see all of the transform frames of the Stretch robot and the visualization can be toggled off and on by clicking the checkbox next to the tree. Below is a gif for reference.
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.
hello-chintan
2 years ago