ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.
Recent questions tagged stretch_ros2_bridge at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
stretch_ros2_bridge package from stretch_ai repostretch_ros2_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/hello-robot/stretch_ai.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.
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.