Week 4 labs

Apr 24, Thursday

This week we focus on robot perception.

Note: The labs this week require running a GUI called RViz. To display RViz on your local workstation, use this command when connecting to the robot (the -X enables X11 Forwarding): 
ssh -X hello-robot@rocky.hcrlab.cs.washington.edu

• Lab 8: Complete the Stretch RViz Basics Tutorial

• Lab 9: Complete the Stretch Perception Tutorial

• Lab 10: Complete the Stretch Deep Perception Tutorial

• Lab 11: Complete the Stretch ArUco Detection Tutorial

  • We have printed ArUco markers.

  • You can test ArUco marker perception in a context relevant to your project (e.g., if you attach the marker to an object that is usually on a tabletop surface, can the robot detect the marker when positioned near the table?)

  • **This tutorial is NOT updated for ROS2!!**

    • Updated commands:

      • ros2 launch stretch_core stretch_driver.launch.py

      • ros2 launch stretch_core d435i_low_resolution.launch.py

      • ros2 launch stretch_core stretch_aruco.launch.py

      • ros2 run rviz2 rviz2 -d /home/hello-robot/ament_ws/src/stretch_tutorials/rviz/aruco_detector_example.rviz

      • ros2 run stretch_core keyboard_teleop