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hello-robot / stretch_install

Install scripts for the Stretch mobile manipulators from Hello Robot Inc.
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Add scripts for dex to standard wrist switch #38

Closed hello-chintan closed 1 year ago

hello-chintan commented 1 year ago

Changes in this PR reduce the process of switching from a dex to a standard wrist to a single step.

Simply execute the following in stretch_install root directory: ./stretch_dex_to_standard_wrist.sh

For the above command to execute successfully in ROS 1, the stretch_description/urdf directory needs to house stretchdescription{wrist_type}.xacro files for both dex and standard wrist, just like in stretch_ros2.

hello-chintan commented 1 year ago

Supporting PR #97 in stretch_ros repo that adds xacro and mesh files for the dex wrist by default in the stretch_description package.