Week 5 labs

January 30, Tuesday 

This week we focus on robot perception.

• Lab 8: Complete the Stretch RViz Basics Tutorial.

• Lab 9: Complete the Stretch Deep Perception Tutorial

• Lab 10: 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