Update mkdocs_pt.yml

WIP: Quick docs on jogging motion commands

mkdocs_pt.yml

@@ -83,6 +83,7 @@ extra:
 
 nav:
   - ./moving.md
+  - Thread Safety: https://github.com/hello-robot/stretch_body/blob/master/docs/is_thread_safe/README.md
   # - ./sensors.md # TODO
   # - ./audio.md
   # - ./pyfunmap.md

mkdocs_rt.yml

@@ -83,6 +83,7 @@ extra:
 
 nav:
   - Getting Started: ./getting_started.md
+  - Motion Commands: ./jogging.md
   - Robot Drivers: ./robot_drivers.md
   # - Writing Nodes: ./writing_nodes.md # TODO
   - Navigation with Nav2:

ros2/example_12.md

@@ -209,7 +209,7 @@ class LocateArUcoTag(hm.HelloNode):
                     transform = self.tf_buffer.lookup_transform('base_link',
                                                             tag_name,
                                                             now)
-                    self.get_logger().info("Found Requested Tag: \n%s", transform)
+                    self.get_logger().info(f"Found Requested Tag: \n{transform}")
 
                     # Publish the transform
                     self.transform_pub.publish(transform)
@@ -408,7 +408,7 @@ try:
     transform = self.tf_buffer.lookup_transform('base_link',
                                                 tag_name,
                                                 now)
-    self.get_logger().info("Found Requested Tag: \n%s", transform)
+    self.get_logger().info(f"Found Requested Tag: \n{transform}")
     self.transform_pub.publish(transform)
     return transform
 except TransformException as ex:
@@ -455,4 +455,4 @@ def main():
         node.destroy_node()
         rclpy.shutdown()
 ```
-Instantiate the `LocateArUcoTag()` object and run the `main()` method.
+Instantiate the `LocateArUcoTag()` object and run the `main()` method.

ros2/jogging.md

@@ -0,0 +1,107 @@
+# Motion Commands in ROS2
+
+## Quickstart
+
+Sending motion commands is as easy as:
+
+ 1. Launch the ROS2 driver in a terminal:
+    ```{.bash .shell-prompt .copy}
+    ros2 launch stretch_core stretch_driver.launch.py
+    ```
+ 2. Open iPython and type the following code, one line at a time:
+    ```python
+    import hello_helpers.hello_misc as hm
+    node = hm.HelloNode.quick_create('temp')
+    node.move_to_pose({'joint_lift': 0.4}, blocking=True)
+    node.move_to_pose({'joint_wrist_yaw': 0.0, 'joint_wrist_roll': 0.0}, blocking=True)
+    ```
+
+## Writing a node
+
+You can also write a ROS2 node to send motion commands:
+
+```python
+import hello_helpers.hello_misc as hm
+
+class MyNode(hm.HelloNode):
+    def __init__(self):
+        hm.HelloNode.__init__(self)
+
+    def main(self):
+        hm.HelloNode.main(self, 'my_node', 'my_node', wait_for_first_pointcloud=False)
+
+        # my_node's main logic goes here
+        self.move_to_pose({'joint_lift': 0.6}, blocking=True)
+        self.move_to_pose({'joint_wrist_yaw': -1.0, 'joint_wrist_pitch': -1.0}, blocking=True)
+
+node = MyNode()
+node.main()
+```
+
+Copy the above into a file called "example.py" and run it using:
+
+```{.bash .shell-prompt .copy}
+python3 example.py
+```
+
+## Retrieving joint limits
+
+In a terminal, echo the `/joint_limits` topic:
+
+```{.bash .shell-prompt .copy}
+ros2 topic echo /joint_limits
+```
+
+In a second terminal, request the driver publish the joint limits:
+
+```{.bash .shell-prompt .copy}
+ros2 service call /get_joint_states std_srvs/srv/Trigger {}
+```
+
+In the first terminal, you'll see a single message get published. It'll look like this:
+
+```yaml
+header:
+  stamp:
+    sec: 1725388967
+    nanosec: 818893747
+  frame_id: ''
+name:
+- joint_head_tilt
+- joint_wrist_pitch
+- joint_wrist_roll
+- joint_wrist_yaw
+- joint_head_pan
+- joint_lift
+- joint_arm
+- gripper_aperture
+- joint_gripper_finger_left
+- joint_gripper_finger_right
+position:
+- -2.0171847360696185
+- -1.5707963267948966
+- -2.9114955354069467
+- -1.3933658823294575
+- -4.035903452927122
+- 0.0
+- 0.0
+- -0.1285204486235414
+- -0.3757907854489514
+- -0.3757907854489514
+velocity:
+- 0.4908738521234052
+- 0.45099035163837853
+- 2.9176314585584895
+- 4.416586351787409
+- 1.7303303287350031
+- 1.0966833704348709
+- 0.5197662863936018
+- 0.34289112948906764
+- 1.0026056417808995
+- 1.0026056417808995
+effort: []
+```
+
+We're misusing the [sensor_msgs/JointState](https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/JointState.html) message to publish the joint limits. The `name` array lists out each ranged joint. The `position` array lists the lower bound for each joint. The `velocity` array lists the upper bound. The length of these 3 arrays will be equal, because the index of the joint in the `name` array determines which index the corresponding limits will be in the other two arrays.
+
+The revolute joints will have their limits published in radians, and the prismatic joints will have them published in meters. See the [Hardware Overview](../../getting_started/stretch_hardware_overview/) to see the ranges represented visually.

ros2/navigation_simple_commander.md

@@ -21,7 +21,7 @@ Let's set the patrol route up before you can execute this demo in your map. This
 First, execute the following command while passing the correct map YAML. Then, press the 'Startup' button:
 
 ```{.bash .shell-prompt}
-ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_ROBOT_FLEET}/maps/<map_name>.yaml
+ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml
 ```
 
 Since we expect the first point in the patrol route to be at the origin of the map, the first coordinates should be (0.0, 0.0). Next, to define the route, the easiest way to define the waypoints in the `security_route` array is by setting the robot at random locations in the map using the '2D Pose Estimate' button in RViz as shown below. For each location, note the x, and y coordinates in the position field of the base_footprint frame and add it to the `security_route` array in [simple_commander_demo.py](https://github.com/hello-robot/stretch_ros2/blob/humble/stretch_nav2/stretch_nav2/simple_commander_demo.py#L30).
@@ -42,7 +42,7 @@ Go ahead and execute the following command to run the demo and visualize the res
 Terminal 1:
 
 ```{.bash .shell-prompt}
-ros2 launch stretch_nav2 demo_security.launch.py map:=${HELLO_ROBOT_FLEET}/maps/<map_name>.yaml
+ros2 launch stretch_nav2 demo_security.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml
 ```
 
 <p align="center">