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stretch_tutorials/ros1/getting_started.md

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Getting Started

Prerequisites

  1. A Stretch robot (see below for simulation instructions if you don’t have a robot)
  2. Follow the Getting Started guide (hello_robot_xbox_teleop must not be running in the background)
  3. Interacting with Linux through the command line
  4. Basic understanding of ROS
  5. Setup untethered operation (optional)

Connecting a Monitor

If you cannot access the robot through ssh due to your network settings, you will need to connect an HDMI monitor, USB keyboard, and mouse to the USB ports in the robot's trunk.

Setting Up Stretch in Simulation

Users who don’t have a Stretch, but want to try the tutorials can set up their computer with Stretch Gazebo.

Requirements

Although lower specifications might be sufficient, for the best experience we recommend the following for running the simulation:

  • Processor: Intel i7 or comparable
  • Memory: 16 GB
  • Storage: 50 GB
  • OS: Ubuntu 20.04
  • Graphics Card: NVIDIA GTX2060 (optional)

Setup

Hello Robot is currently running Stretch on Ubuntu 20.04 and ROS Noetic. To begin the setup, follow the Run the new robot installation script on your system.

Finally, follow the Creating a new ROS workspace guide to create a fresh catkin workspace complete with all the dependencies.

To begin working with a simulated Stretch, follow the Gazebo basics tutorial.