Week 6 labs

May 7, Tuesday 

This week we focus on robot navigation.

• Lab 13: Go over the Stretch ROS Navigation Stack tutorial. Make a map of the robot's environment and demonstrate that it can localize and navigate.

• Lab 14: Write a program that allows saving the robot's current pose on the map with a name and, later, send the robot to that pose. Your program can have a command line or web-based interface. See this example for how to send 2D navigation goals. 

• Lab 15 (optional): If your project involves local servoing, we recommend on working on that now. You can see this example for low-level control of the robot base.

• Lab 16: Lastly, complete the tutorial on Stretch FUNMAP (Fast Unified Navigation, Manipulation And Planning).