Hello Stretch Setup Guide

Welcome to the Setup and Startup Guide for the Stretch Robot.

Starting up Stretch

• Connect the stretch to the power source and switch it on.
• Wait for the onboard Ubuntu to start up until you hear a beep.
• Press the Mode button on the battery charger for 3 seconds until the lights on the bottom pannel come up. Then cycle through the modes and set Mode to 12V Supply.
• Connect the robot to a monitor, keyboard and mouse to start coding.

Shutting down Stretch

• Shut down the PC from the desktop.
• After the laser range finder stops spinning, switch off the robot.
• On the battery charger long press the Mode button until the top panel is illuminates. Select 12V AGM for the robot to charge when not in use.

ROS Commands to Interact with Stretch

• Launch Stretch Drivers
  roslaunch stretch_core stretch_drivers.launch

• Launch On-board RealSense Camera
  roslaunch stretch_core d435i_high_resolution.launch

• Teleoperate Stretch using Keyboard
  roslaunch stretch_core keyboard_teleop.launch

Stretch API related stuff

• To refer to and edit robot parameters, make changes to /stretch_user/stretch-re1-1031/stretch_re1_factory_params.yaml

Troubleshooting

• Transport Error - Official Troubleshooting Guide
• <part> not calibrated - Run stretch_robot_home.py
• Timeout when sending goal - Run stretch_robot_home.py and checkout this forum post

References

• Starting up instructions and best practices
• Battery Charger Manual

Contributing

To contribute to this page, make changes here