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stretch_tutorials/getting_started.md

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Getting Started

Ubuntu

Hello Robot utilizes Ubuntu, an open source Linux operating system, for the Stretch RE1 platform. If you are unfamiliar with the operating system, we encourage you to review a tutorial provided by Ubuntu. Additionally, the Linux command line, BASH, is used to execute commands and is needed to run ROS on the Stretch robot. Here is a tutorial on getting started with BASH.

ROS Setup on Local Computer

Hello Robot is currently running Stretch on Ubuntu 20.04 and on ROS Noetic. To begin the setup, clone the stretch_ros and realsense_gazebo_plugin packages to your preferred workspace. Then install dependencies and build the packages.

cd ~/catkin_ws/src
git clone https://github.com/hello-robot/stretch_ros
git clone https://github.com/pal-robotics/realsense_gazebo_plugin
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin_make

RoboMaker

image

If a you are unable to dual boot and install ubuntu on your local machine, an alternative is to use AWS RoboMaker. AWS RoboMaker extends the ROS framework with cloud services. The service provides a robotics simulation service, allowing for testing of the Stretch RE1 platform. If you are a first-time user of AWS RoboMaker, follow the guide here to get up and running with the service.

Installing Noetic on Stretch

Instructions on installing Noetic can be found in our open source installation guide.