stretch_tutorials/ros2

Tutorial Track: Stretch ROS2

This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS2. We recommend going through the tutorials in the following order:

Stretch ROS2 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
9. Perception
10. ArUco Marker Detection
11. ReSpeaker Microphone Array
12. FUNMAP
13. ROS testing
14. Other Nav Stack Features

Other ROS2 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. 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. Print Joint States - Print the joint states of Stretch.
6. Store Effort Values - Print, store, and plot the effort values of the Stretch robot.
7. Capture Image - Capture images from the RealSense camera data.
8. Voice to Text - Interpret speech and save transcript to a text file.
9. Voice Teleoperation of Base - Use speech to teleoperate the mobile base.
10. Tf2 Broadcaster and Listener - Create a tf2 broadcaster and listener.
11. PointCloud Transformation - Convert PointCloud2 data to a PointCloud and transform to a different frame.
12. ArUco Tag Locator - Actuate the head to locate a requested ArUco marker tag and return a transform.