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stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-14 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- hello-robot
Authors
No additional authors.
HomeRobot ROS2 Installation
# Make sure ROS can find python properly
sudo apt install python-is-python3 pybind11-dev
# Clone the repository
git clone https://github.com/NYU-robot-learning/robot-controller
git checkout cpaxton/ros2-migration
HOME_ROBOT_ROOT=$(realpath robot-controller)
# Install requirements
cd $HOME_ROBOT_ROOT/src/stretch
pip install -r requirements.txt
# Install the core stretch package
pip install -e .
# Set up the python package for ROS
ln -s $STRETCH_AI_ROOT/src/stretch_ros2_bridge $HOME/ament_ws/src/stretch_ros2_bridge
# Rebuild ROS2 packages to make sure paths are correct
cd $HOME/ament_ws
colcon build
Running
In one terminal build stretch_ros2_bridge package after any changes has been made:
cd ~/ament_ws
colcon build --symlink-install --packages-select stretch_ros2_bridge
Using the --symlink-install flag means that you only need to run this once if you make any edits.
Then, in another terminal run the launch file
cd ~/ament_ws
sudo ./install/setup.bash
ros2 launch stretch_ros2_bridge startup_stretch_hector_slam.launch.py
Option 2
cd ~/ament_ws
sudo ./install/setup.bash
ros2 launch stretch_ros2_bridge start_server.py
In another terminal open python shell and run following commands to operate the robot using stretch_user_client node
import rclpy
rclpy.init()
from stretch_ros2_bridge.remote import StretchClient
r = StretchClient(urdf_path="/path/to/urdf")
# Manipulation
r.switch_to_manipulation_mode()
state = r.manip.get_joint_positions()
state[1] = 0.8 # For lifting
r.manip.goto_joint_positions(state)
# Navigation
r.switch_to_navigation_mode()
r.nav.move_base_to([0.5, 0, 0]) # For Navigation
Running with ORB_SLAM3
To use ORB_SLAM3 instead of Hector SLAM, simply run:
cd ~/ament_ws
sudo ./install/setup.bash
ros2 launch stretch_ros2_bridge startup_stretch_orbslam.launch.py
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_copyright | |
| ament_flake8 | |
| ament_pep257 | |
| nav2_msgs |
System Dependencies
| Name |
|---|
| python3-pytest |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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