stretch_tutorials/ros2

Tutorial Track: Stretch ROS 2 (Beta)

NOTE: ROS2 support for Stretch is currently under active development and is considered 'beta'.

Robot Operating System 2 (ROS 2)

Despite the name, ROS is not an operating system. ROS is a middleware framework that is a collection of transport protocol, development and debugging tools, and open-source packages, all wrapped in a single blanket. As a transport protocol, it allows distributed communication via messages through nodes. It provides development tools such as the CMake build system that allows building applications written in languages like Python and C++, among many, and the launch system that allows running mutiple nodes simultaneously. Due to its popularity, it's also the open-source framework of choice for collaboration across research and industry.

At Hello Robot, we strongly support the open-source initiative and believe that the best way to grow is to grow with the community.

This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS 2. We recommend going through the tutorials in the following order:

Basics

	Tutorial	Description
1	Getting Started	Setup instructions for ROS 2 on Stretch
2	Gazebo Basics	Use Stretch in a simulated environment with Gazebo.
3	Teleoperating Stretch	Control Stretch with a keyboard or xbox controller.
4	Internal State of Stretch	Monitor the joint states of Stretch.
5	RViz Basics	Visualize topics in Stretch.
6	Navigation Stack	Motion planning and control for the mobile base using Nav stack.
7	MoveIt! Basics	Motion planning and control for the arm using MoveIt.
8	Follow Joint Trajectory Commands	Control joints using joint trajectory server.
9	Perception	Use the Realsense D435i camera to visualize the environment.
10	ArUco Marker Detection	Localize objects using ArUco markers.
11	ReSpeaker Microphone Array	Learn to use the ReSpeaker Microphone Array.
12	FUNMAP	Fast Unified Navigation, Manipulation and Planning.
13	ROS testing	Write ROS system tests for introspection.
14	Other Nav Stack Features	Advanced features for Nav 2.

Other Examples

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

	Tutorial	Description
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.
5	Tf2 Broadcaster and Listener	Create a tf2 broadcaster and listener.