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Fix log statement in aruco_tag_locator.py 		3 months ago
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rviz Created new rviz file for the aruco detector tutorials 1 year ago
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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
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example_4.md Update the running instructions: first pass 2 years ago
fk_poe.md Forward kinematics initial commit 2 years ago
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getting_started.md Update the running instructions: first pass 2 years ago
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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
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setup.py Update de setup.py, add the rviz pkg name for the perception tutorial for ROS2 1 year ago
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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.