From cfa36689924ff0c4d6726c4d58bd796f8ab7c7f0 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Wed, 4 Aug 2021 09:07:32 -0700 Subject: [PATCH] Init commit of file. --- gazebo_basics.md | 8 ++++++++ images/stretch_gazebo_empty_world.png | Bin 0 -> 63192 bytes 2 files changed, 8 insertions(+) create mode 100644 gazebo_basics.md create mode 100644 images/stretch_gazebo_empty_world.png diff --git a/gazebo_basics.md b/gazebo_basics.md new file mode 100644 index 0000000..0ae1e6e --- /dev/null +++ b/gazebo_basics.md @@ -0,0 +1,8 @@ +# Spawning Stretch in Simulation (Gazebo) + + + +Run the following command to spawn Stretch in gazebo's default empty world. +``` +roslaunch stretch_gazebo gazebo.launch +``` diff --git a/images/stretch_gazebo_empty_world.png b/images/stretch_gazebo_empty_world.png new file mode 100644 index 0000000000000000000000000000000000000000..9a5dfc6b48eea72469f585c7710eb873e46379da GIT binary patch literal 63192 zcmafabySs2+b@a&(h5k2Al=;|2uPQ7N_Te(C`e04cQ?{qQUb!JyOG?$raR8?Jn#E` z=by6lDG^r2omEqvv1Hrc%5(4f#Ma5&&KU;ZE(8Zh1}F9Y z-ADJ-y+sdq9d(b(BUo#76i1Fvy{k+W!)&}8e`Ga}*YBsspXlQlM_wb_WYv68rirUl zl-4$vfj6<3jky&S$+_vVX&Nvv6}GmLBp}rb>c|f)~VV*lSox=+fV9$JY<;%@<5jB=FBPdd@Pnf9Ah0M0KpflgpXUg&u$N_-hRV ziMM#z|GZK38?A?ruZ}H-UPXq12z-b6N0t=E?it3!p?vx(fgSwEcjf1;UtAtubE0w) za;+P}qA*3jeSL*wd3u47O&}YGjT;*s9XVu+*s$o{coX<5|rl)iyM=y4q4l1sw-K=29Oxz4vFXe!c79-0o}sY0UF z%XCk&FhzCXy?up!e8ft1G$k}OX`9Mlq9TmejHYv|sIwCK?_u+Mvidga1F>$+;nY7u{=(I1+wSP`Rk*s ziu;%KOzbDFEx2OJ=g4)vH7C35lH1%V_8916Fl5XTXOSNB$`$*$5LVjlgEvg4p3EM5 zbX5EnMXs{u?m-fGL`SRRBAj@YyoTTE36+>UBoOcqc1<;uDrfe)`56;`@#n7+yRx#Z z_251Oi$OvtrV}2$BkBEEh|;(BaG}M@8i`T!`{`APcI5T^A3iC)i7-n!yt-X={?k7& zUkjbI7;M^zCmxT-%`q29B$lx^NANfJ2I=bJMc1=EKue(R1cm;M@;6|4u z{2)U2RX@_L`aa0`7JF=>?t4v93^_HF{5Q;l2lpr>t)K8|9k@{M-^}eUt%e~YfX$Pj<%_dqi35nNiHi;c+zfdg$fO66VtgiKOfp6H&7t&-!}T$7f2}- zy~kO9Of5yycDn6U<9=gdWz~ml@G~}Uw>x{={n``%h3L6h#`>t6@h4Q&(Mf1ml4h^2 z-zo1}+l6YIKCyeVq;lo=xR-q$nYf%nX`F6Czw}F%S1U+`qf{q*$_U{`7Ar!DTb-%(c1%C5Jx%h#8d zV|B~Fi>ZA(KFvpX@7AHpdNSYKpO9W2+`k*My-~Ser6|$3k8IXFxgmAZ3Tw@EQwAV0 zhBd(QP0DPCZ5M=&2J)Kl22@}M;8>4L5h95;{sgO6_r|<)MJAGB%IwI^ z#7O@;DJIrkkhn8@LB&bRV3s2omF*l+EJUnrY=wjZ@Btgyx1Cg%`%7TGSTMT6O{823 zS9qI>5>tM_ZVR!Qt`-T44YK97oyw1b=eOHUemX3L7-uhu@I;hUN8XIgijJ_nS^4-e zAe4Yf!4u&Ty9J9w$0p?^6{%+v<*%fvAqPhWVX90Pzc|W$zbh;@zv}w{-+nV$GSTGJ zu-@gSXo-M55=i37sC^k0Wk)Gays{ESy8hLc{e=XxPiW|q5udHuhcSn_K4bWuu843A zRcy%R{!UYnEsNntxYN;%)ZYEL$b4wRUO_q3{P;Hx04W7k933X^%F1(lt*s&MWsZF> z1VlupHuWCPH3`*8dxa(Ajm|%w2nBQ%<5*-vMBZL(=%{)px~N^%-EQI*ZRPt?k5mF^FzJswsdmqXF77g+N96e*bm zf8afTYIbn~O;|P-A&wLKXxkOMy{lhlzaCC+^@e3!9R5iszTJ?cwZ7e+zC5}K zvfoiN+}CsUJ8`<*-b-wer%alEIL>H{#Cv5pRM=4Daqsq#u&g_r=kb*99YjV59FM=yY9EF_G8nBr9DAj&)tqdgkJuSK`oc(Un*h8-_LK23M?5k=^dwC* zlr?XP%qnDol|-kJfVnVyLW5AcWa`@P8mcG8;4rLVSZW&n%pSwl>EQGQI#Fr%h7NH7 zLaMPzZcOwKDN|`wRJZX3`%p2&lB4pLFt34iB^;b;!Pmh?r~0L1zYY@Ui})SB5GbJ1 zN*%rJ?lDwtIju|0YpRN2hc^)ENsoRPGbtM0^{$jvL|=xpLhwlV*4~Yq)s;e`T7G&o zF!i`MIyzl8rt5P-wf`OD_8Y8yB6RkR71|>KimGA*>Ia)Um?GYQct?G8`J@Ct{R7Md8kN`2C_G zyHPz}Z*J-C<$|70I@~)s#K0$ElL3pC-$fLW-juT>=d-izk+ajsUS2i~GO=bA)A`)N z*VNX%!ZMOn?NjjQBHd^V()DKR971!wXrQE`Vjk(RVj>jYtB;^pXk6!d@rY56BHgeQ z%*o*Xn>TNw|NiZ^pEIQya@vC|E()HWpJQPe^<>H~J>vlvTO>KCY4#Xl4fqlEssJxh*YKws$_?83MbDgPkMjCa^|SitL)`_1oOSzF?G5TRSrfzIp4~kGSR~ff zMH3n@X-UGK@AGM}+DfQSd$E+w>qApR>U)I|k-X^vy$ZAh%k&z7jVW#0?*`yb|8Wud zna??&`oleu6Km%oOw6XkQ^m;{{bu>iTBJjn7Q!<=>+rAHz+BVHEkvfOeld>i7sZjU zMfb1z{AXCxWI5dd{~4ge{=fVA@nr)7e)Ru*P&sd}$RQgFHuArp`=wzQFIciAtQF%w zfB5FLhB1o9e@6ACf$qbjxc$%N|7S+m2;M%b#DCtU6ZpUG$7V;20)M8BF zrzNgea>$X{DIP0}DN+fTnmRpk-Hr$D+r%H=(uB3rqilsXlfHNy$e(taAi>vaZ4Vij z5I=VeN-B{MO1nj>0k*x-`R*3w5a#(#-TBaO>MJqpowCZEmTDW_j%cb`6%0W-2R8#3 zm*;)cFTFT@KPd4DiOp#pv>0LWvZ}93CI7;46MobyUlRR#liEMNxjJV)R)8_L{gvz7 zG`k#7*YBR3m)G_pWnwJ8!Q(aJCA}KnY8d6MtRh^Qc<_z1Yv=mxJ1ZKn9@Y1Ks4U|a zwFJXAt=)!%iiepWokopqdbwY)-qz5>mJVIzbM(Q<1o3juxI(Lxl|dU<%g0%bhkm;w z>O9G-`u6J=)YJ@NMLZQ-)yvmNwCxWBemCL4ZRf6Y&5}qu_wafgK^w3Q(sp-vv-=Z> z`(B~lHEzjH%evitx|f&V?~DiaaU2KlQ6rN3Uvp(J%C2k|f zq!}B*eHD$5BIFAuIUP9?0yFZ&af+W$vgN~k`7rjp-IkbFFg1x>e1j8dL1{f-6O;NDWvN_C?_pBGJ->>%1-AKTsO4t0SwlZg zDs@R=JsS6Fa=n>%YpOF2Qby{9!Hr`UOJMfgjk?0`f&R9NEBNMN_oZ#W6nXEq*@`F* z-~o2MLXy-^9fIsj$?!xw%f0bsB_X`7-=h^*rOBc7aR%nMoOX2ZN;-KrZ; 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