cccccccc
/
stretch_tutorials
mirror of https://github.com/hello-robot/stretch_tutorials.git
1
0
Fork 0
Code Issues 0 Projects 0 Releases 0 Wiki Activity
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
267 Commits
6 Branches
3.2 GiB
 
Tree: b147bd922c
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'b147bd922c'
${ noResults }
 ZIP  TAR.GZ
Alan G. Sanchez b147bd922c Fixed typo in rospy.loginfo in done callback function. 2 years ago
images Init commit. 2 years ago
rviz Update configuration to consider image_raw topic. 2 years ago
src Fixed typo in rospy.loginfo in done callback function. 2 years ago
stored_data Init commit of stored data and media. 2 years ago
LICENSE Create LICENSE 2 years ago
README.md Fixed typo. 2 years ago
aruco_marker_detection.md Init commit. 2 years ago
example_1.md Fixed typos. 2 years ago
example_2.md Fixed indentation issues. 2 years ago
example_3.md Fixed typos in comments. 2 years ago
example_4.md removed sys argument. 2 years ago
example_5.md Fixed indentation issue in example_5 markdown file. 2 years ago
example_6.md Fixed typo in rospy.loginfo in done callback function. 2 years ago
example_7.md Remove instructions to checkout feature/upright_camera_view branch. 2 years ago
example_8.md Edit save path. 2 years ago
example_9.md Fixed typos. 2 years ago
example_10.md Fixed typos. 2 years ago
example_11.md Included the realsense link. 2 years ago
example_12.md init commit. 2 years ago
follow_joint_trajectory.md Fixed typos in the follow_joint_trajectory markdown file. 2 years ago
gazebo_basics.md Changed to appropriate ROS package name and aligned all images to the center. 2 years ago
getting_started.md Included command to checkout the noetic branch. 2 years ago
internal_state_of_stretch.md Changed to appropriate ROS package name and aligned all images to the center. 2 years ago
moveit_basics.md Changed to appropriate ROS package name and aligned all images to the center. 2 years ago
navigation_stack.md Changed the images parameters. 2 years ago
perception.md Included the realsense link. 2 years ago
respeaker_microphone_array.md Init commit of ReSpeaker image and tutorial. 2 years ago
rviz_basics.md Changed to appropriate ROS package name and aligned all images to the center. 2 years ago
teleoperating_stretch.md Changed Teleoperation command lines. 2 years ago

README.md

Introduction

This repo provides instructions on installing and using code on the Stretch RE1 robot. The goal is to provide a user familiar with ROS 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
  9. Perception
  10. ArUco Marker Detection
  11. ReSpeaker Microphone Array
  12. FUNMAP
  13. ROS testing
  14. Other Nav Stack Features

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. 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.