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Jesus Eduardo Rodriguez 0c0d86858c
Added a better version of the DOA diagram 		1 year ago
images Added a better version of the DOA diagram 1 year ago
resource Rosify the package 2 years ago
rviz Created new rviz file for the aruco detector tutorials 1 year ago
stored_data Creation of the stored_data folder for the stretch_tutorials 1 year ago
stretch_ros_tutorials Created python file to modify the LEDs from the ReSpeaker 1 year ago
test Rosify the package 2 years ago
README.md Update the running instructions: first pass 2 years ago
align_to_aruco.md Center images Align to Aruco 2 years ago
deep_perception.md Add GIFs to deep perception 2 years ago
example_1.md Update the running instructions: first pass 2 years ago
example_2.md Update the running instructions: first pass 2 years ago
example_3.md Update the running instructions: first pass 2 years ago
example_4.md Update the running instructions: first pass 2 years ago
fk_poe.md Forward kinematics initial commit 2 years ago
follow_joint_trajectory.md Update follow joint trajectory readme instructions 1 year ago
gazebo_basics.md Merge branch 'ROS2' into galactic 2 years ago
getting_started.md Update the running instructions: first pass 2 years ago
internal_state_of_stretch.md Merge branch 'ROS2' into galactic 2 years ago
moveit_basics.md Update the running instructions: first pass 2 years ago
moveit_draw.md ROSCon demoes initial commit 2 years ago
navigation_stack.md Update the running instructions: first pass 2 years ago
obstacle_avoider.md Add GIFs to obstacle avoider 2 years ago
package.xml Add tested and working ROS 2 tutorials 2 years ago
rviz_basics.md Correct the rviz config file path 2 years ago
setup.cfg Rosify the package 2 years ago
setup.py Update de setup.py, add the rviz pkg name for the perception tutorial for ROS2 1 year ago
teleoperating_stretch.md Merge branch 'ROS2' into galactic 2 years ago

README.md

Introduction

This branch provides instructions on the installation and use of code on the Stretch RE1 robot. The goal is to provide a user familiar with ROS 2 with the tools to operate a Stretch robot.

Stretch ROS Tutorials

  1. Getting Started
  2. Gazebo Basics
  3. Teleoperating Stretch
  4. Internal State of Stretch
  5. RViz Basics
  6. Navigation Stack
  7. MoveIt! Basics
  8. Follow Joint Trajectory Commands

Other ROS 2 Examples

To help you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.

  1. Teleoperate Stretch with a Node - Use a python script that sends velocity commands.
  2. Filter Laser Scans - Publish new scan ranges that are directly in front of Stretch.
  3. Mobile Base Collision Avoidance - Stop Stretch from running into a wall.
  4. Give Stretch a Balloon - Create a "balloon" marker that goes where ever Stretch goes.