Stretch Gazebo

This package allows migrates the stretch_gazebo package found in (https://github.com/hello-robot/stretch_ros.git) to ROS2.

[NOTE]: This is not functional. Current status of development allows to launch everything properly within the simulation including controllers however when moved everything breaks. Additionally, for simplicifation of the problem all sensors, gripper, aruco markers and respeakers have been removed.

[UPDATE]: New branch has been created called dev for debugging purposes. Current status of the branch has a reduced urdf containing only the mobile base in which by modifiying the inertias and the mass it kinda works.

Install Package

To have functional the following simulation first install the create a catkin workspace and install all dependecies mentioned below.

APT Dependecies

Dependecies you can install from terminal

sudo apt-get install ros-humble-launch-param-builder
sudo apt-get install ros-humble-gazebo-ros
sudo apt-get install ros-humble-gazebo-ros-pkgs
sudo apt-get install ros-humble-controller-manager
sudo apt-get install ros-humble-ament-cmake
sudo apt-get install ros-humble-control-msgs
sudo apt-get install ros-humble-diagnostic-updater
sudo apt-get install ros-humble-control-toolbox
sudo apt install python3-pip
pip install setuptools==58.2.0
sudo apt-get install ros-humble-joint-state-broadcaster
sudo apt-get install ros-humble-diff-drive-controller
sudo apt-get install ros-humble-joint-trajectory-controller

Dependecies from Source

Dependecies which should be in the src folder of your catkin workspace.

git clone git@github.com:ros-controls/ros2_control.git
git clone git@github.com:ros-controls/gazebo_ros2_control.git

Start Simulation

After you have built your catkin workspace make sure to add the following lines to the bashrc file.

source /usr/share/gazebo/setup.sh
source /opt/ros/humble/setup.bash
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/samuel/ros2_ws/install/stretch_gazebo/share/stretch_gazebo
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/opt/ros/humble/lib

Then, source your bashrc and your catkin workspace. Once you have followed all previous steps mentioned above you will be ready to launch the simulation by running the following command:

ros2 run stretch_gazebo stretch_gazebo.launch.py