Overview

This package is in active development. Proceed with caution.

stretch_gui is meant to utilize all aspects of stretch to navigate and grasps objects. This package utilizes stretch_rtabmap to map.

Requirements Gazebo

cd ~/catkin_ws/src
git clone https://github.com/NateWright/stretch_ros.git -b dev/noetic
git clone https://github.com/NateWright/stretch_gui.git
git clone https://github.com/pal-robotics/realsense_gazebo_plugin
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Usage Gazebo

# Shell 1
roslaunch stretch_rtabmap gazebo.launch
# Shell 2
roslaunch stretch_rtabmap start_rtab.launch sim:=true localization:=false move_base_config:=3d_unknown
# Shell 3
roslaunch stretch_moveit_config move_group.launch
# Shell 4
rosrun web_video_server web_video_server
# Shell 5
roslaunch stretch_gui_server stretch_gui_server.launch sim:=true

Requirements Stretch RE1

cd ~/catkin_ws/src
git clone https://github.com/NateWright/stretch_ros.git -b dev/noetic
git clone https://github.com/NateWright/stretch_gui.git
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Usage Stretch

Change inflation layer inflation radius to 0.20

# Shell 1
roslaunch stretch_rtabmap start_rtab.launch sim:=false localization:=false move_base_config:=3d_unknown
# Shell 2
rosrun web_video_server web_video_server
# Shell 3
roslaunch stretch_gui_server stretch_gui_server.launch sim:=false

Client app

App located at GitHub - NateWright/stretch_gui_client

Release located at Release Full Android App · NateWright/stretch_gui_client · GitHub

IP and Port to connect to server will be in server terminal