Separate drivers into stretch.launch - Githubissues

hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.

https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/

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Separate drivers into stretch.launch #111

Closed hello-binit closed 9 months ago

hello-binit commented 9 months ago

This PR puts all drivers for Stretch and its sensors in a single launch file called stretch.launch, which allows us to condense other launch files.

Changes:

Realsense now publishes gyro
Remove diagnostics from stretch_driver.launch
Default fail_out_of_range_goal to False (changed from True)
Fix frustum marker message showing warning in Rviz due to zero quaternion
grasp_object.launch uses new stretch.launch

Added:

Added stretch_realsense.launch
Added stretch.launch
Added ability to upright Gazebo image

This PR builds on https://github.com/hello-robot/stretch_ros/pull/112, https://github.com/hello-robot/stretch_ros/pull/113, https://github.com/hello-robot/stretch_ros/pull/114 (the last one aggregates the changes from the two PRs before it).