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Alan Sanchez 38d14f3433 Updated internal state guide for actual robot. 3 years ago
images Init commit of gif of stretch moving foward. 3 years ago
src Updated file. 3 years ago
README.md Update README file. 3 years ago
example_1.md Added instructions to use the Move node in simulation. 3 years ago
example_3.md update file. 3 years ago
gazebo_basics.md Updated markdown file. 3 years ago
getting_started.md Merge branch 'main' of https://github.com/hello-sanchez/stretch_ros_tutorials into main 3 years ago
internal_state_of_stretch.md Updated internal state guide for actual robot. 3 years ago
moveit_basics.md Include Moveit instructions on actual robot. 3 years ago
navigation_stack.md Comment out section that runs Nav stack in gazebo. 3 years ago
rviz_basics.md Updated file. 3 years ago
teleoperating_stretch.md Included teleoperation instructions for simulation. 3 years ago

README.md

Introduction

This repo provides instructions on the installation and use of code on the Stretch RE1 robot. The goal is to provide a user familiar with ROS with the tools to operate a Stretch robot in simulation and the actual 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. [Perception]
  9. [Microphone Array]
  10. [FUNMAP]
  11. [ROS testing]
  12. [Other Nav Stack Features]
  13. [FollowJoint Trajectory Commands]
  14. [4 Modes of Stretch]

Other ROS Examples

To help get 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. Mobile Base Collision Avoidance - Stop stretch from running into a wall.
  3. Give Stretch a Balloon - Create a "balloon" marker that goes where ever it goes.