rerail_stretchit

ROS Workspace for Stretch Robot 2023

The software stack is built in ROS1 for the Stretch RE Robot

It has 4 main components

1. Scene Segmentation
2. Grasping objects
3. Manipulation
4. Task Executor

Setup

We will be using the vcstool to setup this ROS workspace. before you begin, please read the documentation here

NOTE: All the commands assume that you are in the workspace root. i.e. rerail_stretchit

1. Install Dependencies

   cd setup_scripts/

   chmod +x setup_ws.sh

   ./setup_ws.sh

   cd ..

2. Validate the repos:

   cd src

   vcs validate < stretch.repos

3. Clone all the repos:

   vcs import < stretch.repos

4. Build the workspace:

   source /opt/ros/noetic/setup.bash

   cd ..

   catkin_make

5. Source the workspace:

   source ./stable/devel/setup.bash

6. Setting up the stretch_ros package

   1. stretch_ros:

      This is the official repository provided by Hello Robot for the Stretch Robot. We have already cloned this in the previous steps.

      1. Export the URDF

         Navigate to the cloned repository directory. Run the command to generate URDF by following the document here

      2. Robot Calibration and Regenerating URDF Follow this link to see the documentation for calibrating stretch Visualize the calibration and make sure that the total_error printed on the command line is less than 0.05

         Now, regenerate the URDF

      Troubleshooting

      If you encounter an error during calibration, the below points can help:

      1. If you get a dependency mismatch error for opencv-contrib-python then upgrade the version of opencv-contrib-python by running:

         pip install opencv-contrib-python==4.8.0.76

      2. If need to perform quick calibration then modify the head_calibration_options as follows:

      • Set data_to_use to 'use_very_little_data'.

      • Set fit_quality to 'fastest_lowest_quality'.

        Note using the above setting may lead to undesired fit error like shown below:

        [ERROR] [1695165009.479201]: The fit error is very high: 0.05577298122727921 > 0.05 (fit_error > fit_error_threshold)
        

7. Start all the ros nodes using the stretchit launch file

roslaunch task_executor stretchit.launch

8. Run the demo task

rosrun task_executor run_task.py demo_task