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hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/
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Add stow service to Humble #52

Closed hello-atharva closed 11 months ago

hello-atharva commented 11 months ago

Summary

This feature adds a stowing service to stretch_driver. It utilizes the robot.stow() method provided by Stretch Body.

How-to-test

In a terminal, run

ros2 launch stretch_core stretch_driver.launch.py

In a separate terminal, run

ros2 service call /stow_the_robot std_srvs/srv/Trigger
hello-binit commented 11 months ago

Thanks for opening this PR @hello-atharva. I recently merged https://github.com/hello-robot/stretch_ros/pull/105, which fixed a couple bugs with the stow service in Stretch ROS1. Can you port over the improvements/bugfixes/docs of that PR to ROS2?

hello-atharva commented 11 months ago

@hello-binit Sounds good! Can we pull the changes from this PR and have a new one for porting the additional bug fixes from ROS 1?

hello-binit commented 11 months ago

Yes, sounds good. Can you change the base branch from rolling to humble?

hello-atharva commented 11 months ago

Done!