stretch_ros2_bridge

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.navigate_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