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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
- Getting Started
- Gazebo Basics
- Teleoperating Stretch
- Internal State of Stretch
- RViz Basics
- Navigation Stack
- MoveIt! Basics
- 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.
- Teleoperate Stretch with a Node - Use a python script that sends velocity commands.
- Filter Laser Scans - Publish new scan ranges that are directly in front of Stretch.
- Mobile Base Collision Avoidance - Stop Stretch from running into a wall.
- Give Stretch a Balloon - Create a "balloon" marker that goes where ever Stretch goes.