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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 drawer opening demo #60

Closed hello-atharva closed 10 months ago

hello-atharva commented 10 months ago

Summary

The PR adds the surface cleaning demo from ROS 1.

How-to-test

Keep a relatively non-reflective flat surface in front of your robot's arm. Launch the demo by running the command:

ros2 launch stretch_demos clean_surface.launch.py

Run the keyboard_teleop node:

ros2 run stretch_core keyboard_teleop --ros-args -p clean_surface_on:=true

Clean the surface by hitting the '/' key.