Hello Robot Stretch 3

Please note that this workspace is only tested in simulation.

🐳 Start Container

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/stretch3_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-stretch3-ws bash

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

If you encountered unexpected issues when using Isaac Sim, see Known Issues for more details.

Isaac Sim Keyboard Control

Run ~/isaacsim/isaac-sim.sh and open /home/ros2-essentials/stretch3_ws/isaacsim/assets/stretch3_og_wasd.usda in Isaac Sim, and then press Play and use WASD to control the robot.

Known Issues

If the robot moves too fast, it will become a bit unstable and starts rotating. This may be due to the tool causing mass inbalance.

References

• Stretch Docs
  • Stretch 3 Hardware Guide - Stretch Docs
• Hello Robot GitHub
  • hello-robot/stretch_urdf