Tutorial Track: Stretch ROS1

This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS1 Melodic. We recommend going through the tutorials in the following order:

Basics

	Tutorial	Description
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

Other Examples

To help get you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.

	Tutorial	Description
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.
13	2D Navigation Goals	Send 2D navigation goals to the move_base ROS node.