RAIL ROS Package for Stretch RE1
Open a terminal and launch the driver
roslaunch rail_stretch_config rail_stretch_bringup.launch
In a new terminal,run move_base with gmapping
roslaunch rail_stretch_navigation navigation.launch
Open a terminal and launch
roslaunch rail_stretch_config rail_stretch_aruco_nav_demo.launch
Move around using 'i' , 'j', 'l' and ',' keys to detect aruco markers
Call ROS service to to take voice input using
rosservice call /stretch_voice
For example, "Bring the box from tall table to kitchen counter"
"Bring the cube from kitchen counter to tall table"
To change the objects and corresponding Aruco ID, update rail_stretch_manipulation/config/aruco_marker_dict.yaml
To directly command the robot to go from a starting aruco to ending aruco (without voice), open a terminal and run
rosservice call /stretch_mission "from_aruco_name: 'tall table'
object_name: 'cube'
to_aruco_name: 'kitchen counter'"