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Tutorial Track: Stretch ROS2 (Beta)

NOTE: ROS2 support for Stretch is currently under active development and is considered 'beta'.

This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS2. 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
13 ROS testing
14 Other Nav Stack Features

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 Tf2 Broadcaster and Listener Create a tf2 broadcaster and listener.