From bf4bde4dbb1e223ba54ab25f57d819b2a6fcc173 Mon Sep 17 00:00:00 2001 From: hello-chintan Date: Thu, 8 Sep 2022 16:39:51 -0400 Subject: [PATCH] Update image links --- ros2/example_1.md | 2 +- ros2/example_10.md | 6 +++--- ros2/example_2.md | 8 ++++---- ros2/example_3.md | 2 +- ros2/example_4.md | 4 ++-- ros2/follow_joint_trajectory.md | 4 ++-- ros2/gazebo_basics.md | 4 ++-- ros2/getting_started.md | 2 +- ros2/internal_state_of_stretch.md | 2 +- ros2/moveit_basics.md | 4 ++-- ros2/navigation_stack.md | 2 +- ros2/rviz_basics.md | 6 +++--- ros2/teleoperating_stretch.md | 2 +- 13 files changed, 24 insertions(+), 24 deletions(-) diff --git a/ros2/example_1.md b/ros2/example_1.md index 27c34ed..640d41f 100644 --- a/ros2/example_1.md +++ b/ros2/example_1.md @@ -1,7 +1,7 @@ ## Example 1

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The goal of this example is to give you an enhanced understanding of how to control the mobile base by sending `Twist` messages to a Stretch robot. diff --git a/ros2/example_10.md b/ros2/example_10.md index c1f3297..14c4d37 100644 --- a/ros2/example_10.md +++ b/ros2/example_10.md @@ -27,7 +27,7 @@ ros2 run stretch_ros_tutorials tf2_broadcaster The gif below visualizes what happens when running the previous node.

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**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 ```

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@@ -241,7 +241,7 @@ rotation: ```

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diff --git a/ros2/example_2.md b/ros2/example_2.md index e8f42be..7d91c34 100644 --- a/ros2/example_2.md +++ b/ros2/example_2.md @@ -25,15 +25,15 @@ float32[] intensities # intensity data [device-specific units] 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.

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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.

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@@ -64,7 +64,7 @@ ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibration`/rviz/stretch_simpl Change the topic name from the LaserScan display from */scan* to */filter_scan*.

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### The Code diff --git a/ros2/example_3.md b/ros2/example_3.md index f9a3433..96c4f46 100644 --- a/ros2/example_3.md +++ b/ros2/example_3.md @@ -16,7 +16,7 @@ ros2 run stretch_ros_tutorials avoider To stop the node from sending twist messages, type **Ctrl** + **c** in the terminal running the avoider node.

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### The Code diff --git a/ros2/example_4.md b/ros2/example_4.md index fbd11ec..7d48b48 100644 --- a/ros2/example_4.md +++ b/ros2/example_4.md @@ -1,6 +1,6 @@ ## Example 4 -![image](images/balloon.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/balloon.png) 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. -![image](images/balloon.gif) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/balloon.gif) ### The Code diff --git a/ros2/follow_joint_trajectory.md b/ros2/follow_joint_trajectory.md index 9145dee..21717ba 100644 --- a/ros2/follow_joint_trajectory.md +++ b/ros2/follow_joint_trajectory.md @@ -4,7 +4,7 @@ Stretch driver offers a [`FollowJointTrajectory`](http://docs.ros.org/en/api/con ## Stow Command Example

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Begin by launching stretch_driver in a terminal. @@ -166,7 +166,7 @@ To make the script executable call the main() function like above. ## Multipoint Command Example

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If you have killed the above instance of stretch_driver relaunch it again through the terminal. diff --git a/ros2/gazebo_basics.md b/ros2/gazebo_basics.md index a92c857..53efdfa 100644 --- a/ros2/gazebo_basics.md +++ b/ros2/gazebo_basics.md @@ -13,7 +13,7 @@ roslaunch stretch_gazebo gazebo.launch This will bringup the robot in the gazebo simulation similar to the image shown below. -![image](images/stretch_gazebo_empty_world.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/stretch_gazebo_empty_world.png) ### Custom World Simulation In gazebo, you are able to spawn Stretch in various worlds. First, source the gazebo world files by running the following command in a terminal @@ -28,6 +28,6 @@ Then using the world argument, you can spawn the stretch in the willowgarage wor roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world ``` -![image](images/stretch_willowgarage_world.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/stretch_willowgarage_world.png) **Next Tutorial:** [Teleoperating Stretch](teleoperating_stretch.md) diff --git a/ros2/getting_started.md b/ros2/getting_started.md index 32c8556..a804924 100644 --- a/ros2/getting_started.md +++ b/ros2/getting_started.md @@ -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. + ``` cd ~/ament_ws/src - git clone https://github.com/hello-sanchez/stretch_ros_tutorials.git cd ~/ament_ws colcon build diff --git a/ros2/internal_state_of_stretch.md b/ros2/internal_state_of_stretch.md index 0534089..9030cd2 100644 --- a/ros2/internal_state_of_stretch.md +++ b/ros2/internal_state_of_stretch.md @@ -34,7 +34,7 @@ A powerful tool to visualize the ROS communication is through the rqt_graph pack ``` ros2 run rqt_graph rqt_graph ``` -![image](images/rqt_graph.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/rqt_graph.png) 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. diff --git a/ros2/moveit_basics.md b/ros2/moveit_basics.md index 130c036..9793847 100644 --- a/ros2/moveit_basics.md +++ b/ros2/moveit_basics.md @@ -22,7 +22,7 @@ ros2 launch stretch_moveit_config movegroup_moveit2.launch.py ``` 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. -![image](images/moveit.gif) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/moveit.gif) 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. -![image](images/moveit_groups.gif) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/moveit_groups.gif) ## Running Gazebo with MoveIt! and Stretch diff --git a/ros2/navigation_stack.md b/ros2/navigation_stack.md index d812868..6028bca 100644 --- a/ros2/navigation_stack.md +++ b/ros2/navigation_stack.md @@ -15,7 +15,7 @@ roslaunch stretch_navigation mapping.launch 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.

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In Rviz, once you see a map that has reconstructed the space well enough, you can run the following commands to save the map to `stretch_user/`. diff --git a/ros2/rviz_basics.md b/ros2/rviz_basics.md index 2245e4b..319964a 100644 --- a/ros2/rviz_basics.md +++ b/ros2/rviz_basics.md @@ -13,11 +13,11 @@ ros2 run rviz2 rviz2 -d `ros2 pkg prefix stretch_calibration`/rviz/stretch_simpl ``` An RViz window should open, allowing you to see the various DisplayTypes in the display tree on the left side of the window. -![image](images/simple_rviz.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/simple_rviz.png) 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. -![image](images/rviz_adding_tf.gif) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/rviz_adding_tf.gif) TODO: Add the correct link for working with rviz2 in ROS 2 There are further tutorials for RViz that can be found [here](http://wiki.ros.org/rviz/Tutorials). @@ -31,7 +31,7 @@ roslaunch stretch_gazebo gazebo.launch world:=worlds/willowgarage.world rviz:=tr ``` the `rviz` flag will open an RViz window to visualize a variety of ROS topics. -![image](images/willowgarage_with_rviz.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/willowgarage_with_rviz.png) Bringup the [keyboard teleop](teleoperating_stretch.md) to drive Stretch and observe its sensor input. diff --git a/ros2/teleoperating_stretch.md b/ros2/teleoperating_stretch.md index 454d2eb..4ebde52 100644 --- a/ros2/teleoperating_stretch.md +++ b/ros2/teleoperating_stretch.md @@ -6,7 +6,7 @@ Teleoperation support for Stretch in ROS 2 is under active development. Please r Refer to the instructions below if you want to test this functionality in ROS 1. ### Xbox Controller Teleoperating -![image](images/xbox_controller_commands.png) +![image](https://raw.githubusercontent.com/hello-robot/stretch_tutorials/ROS2/images/xbox_controller_commands.png) 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.