Hello Robot Stretch RE1 Guide

Tools

Website:

https://docs.hello-robot.com/0.2/

Official Github Repositories:

Default

https://github.com/hello-robot/stretch_ros

https://github.com/hello-robot/stretch_ros/tree/master/stretch_description

Adding tools to URDF Model

https://github.com/hello-robot/stretch_tool_share

Python API

https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/

Start Stretch

Password: hello2020

Calibrate Robot Before Use:

1. stretch_robot_home.py
2. stretch_robot_stow.py

Teleoperating Stretch:

rosservice call /switch_to_navigation_mode

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=stretch/cmd_vel

NOTE: The controller is not set up due to previous issues with the robot.

Creating and Setting Up Map

Official 2D Navigation Stack:

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/example_13/

https://github.com/hello-robot/stretch_ros/blob/master/stretch_navigation/README.md

Navigation startup with 4th floor map roslaunch stretch_navigation navigation.launch

Official 3D Navigation Stack:

https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap

Setting up funmap:

1. Ssh in the hello robot: ssh hello-robot@10.0.60.32 [example IP]
2. On Robot: export ROS_IP = 10.0.60.32 [example IP]
3. Do on every terminal that is a robot!
4. On PC: export ROS_IP = "ip of PC"
5. On PC: export ROS_MASTER_URI = http://10.0.60.32:11311
6. On Robot: run launch file that we want
7. Roslaunch stretch_core stretch_driver.launch 1. May be unnecessary? UNECeSSARYSSS
8. roslaunch stretch_funmap mapping.launch 1. Exit from rviz window

• On PC: Example with funmap
• rviz -d rospack find stretch_funmap/rviz/stretch_mapping.rviz
  • Follow tutorial: press space https://github.com/hello-robot/stretch_ros/blob/master/stretch_funmap/README.md
• Move it 1 meter and press space again to rerun mapping

RVIZ

• Global fixed frame is /map
• Add pointcloud2 and marker array too see the map after you make it
  • You make the map by pressing space btw
  • Github link above is good for map

Rostopic echo move_base /current_goal

Rostopic echo /clicked_point

Using the Camera

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/perception/

NOTE: THE CAMERA IS TURNED 90 DEGREES. MUST TRANSFORM THE IMAGE.

• Startup Camera: roslaunch stretch_core d435i_low_resolution.launch

Gazebo

NOTE: Gazebo uses MoveIt!, but the real life robot uses FUNMAP as MoveIt! Isn't supported. Real robot uses move_base like the turtlebot or the python API can be used.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/gazebo_basics/

Battery Management

https://docs.hello-robot.com/0.2/stretch-hardware-guides/docs/battery_maintenance_guide_re1/

Summary:

Battery starts in standby, which is lit up orange and looks like the power symbol. To change the modes, hold on the gray button. If it cannot rotate through all the modes, it is likely you need to unplug the charger and wait for it to discharge. Then, take robot off the dock and wait a little. Then replug everything back in and try again. Sometimes, it takes 2-5 tries to get it working. A fully charged robot running a high CPU load can run approximately 2 hours before requiring a recharge.

When turned off: 12V AGM

The 12V AGM charge mode expects the battery voltage to be above 10.5-11V in order to operate.

When turned on: 12V Supply

When there are battery issues : refer to the guide below.

https://forum.hello-robot.com/t/stretch-turns-off-computer-while-running-at-around-12-4v/624?u=bshah

This is a temporary fix. I think the battery might need to be replaced if it persists.

Battery Level:

Run: stretch_robot_battery_check.py