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Alan Sanchez b60ec7110e Include Follow Joint Trajectory Commands link. 3 years ago
images Updated tutorial and multipoint node. 3 years ago
src Include code explanation in example. 3 years ago
README.md Updated README file. 3 years ago
example_1.md Updated example.md file. 3 years ago
example_2.md Updated example.md file. 3 years ago
example_3.md Updated example.md file. 3 years ago
example_4.md Include details on setting up Balloon class. 3 years ago
follow_joint_trajectory.md Updated tutorial and multipoint node. 3 years ago
gazebo_basics.md Updated markdown file. 3 years ago
getting_started.md Included instructions to clone stretch_ros_tutorials to workspace. 3 years ago
internal_state_of_stretch.md Updated internal state guide for actual robot. 3 years ago
moveit_basics.md Include Follow Joint Trajectory Commands link. 3 years ago
navigation_stack.md Update gif file. 3 years ago
rviz_basics.md Rearranged sections of Nav Stack tutorial. 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.

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. FUNMAP
  10. Microphone Array
  11. ROS testing
  12. Other Nav Stack Features
  13. Perception
  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. 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.