stretch_description

Overview

The purpose of stretch_description is simply to provide a launch file to visualize the URDF in Rviz. None of the files (.xacro, .urdf, .stl, etc.) live in this repo anymore; they have been moved to stretch4_urdf.

You can launch the visualization using:

ros2 launch stretch_description display.launch.py

By default, the visualization uses your robot's URDF. To visualize another end-effector, batch, or variant of robot, you can run:

ros2 launch stretch_description display.launch.py urdf_file:=<path_to_urdf>

Details

display.launch.py loads the URDF from stretch4_urdf using:

from stretch4_urdf import get_robot_params, get_urdf

model_name, batch_name, tool_name = get_robot_params()
robot_description_content = get_urdf(model_name=model_name, batch_name=batch_name, tool_name=tool_name)
robot_state_publisher = Node(package='robot_state_publisher',
                             executable='robot_state_publisher',
                             parameters=[{'robot_description': robot_description_content}])

model and tool is defined for your robot in Stretch's parameters:

import stretch4_body.robot
r = stretch4_body.robot.Robot()
model = r.params['model_name']
tool = r.params['tool']

To access other URDFs, XACROs, or individual meshes from stretch4_urdf, look through Coming Soon for details on these assets are organized.

License and Patents

Patents are pending that cover aspects of the Stretch mobile manipulator.

For license information, please see the LICENSE files.