Hello Stretch Server

Code to start the camera stream publisher and robot controller. The code is useful for record3d based camera streaming and controller but can be adapted for other use cases.

Instruction for Installation and Running

First clone the repository to your hello robot. Using requirements.txt, you can install the required packages.

To run the server, follow the following steps:

• Make sure your robot is joint-calibrated by running

  stretch_robot_home.py

• Once calibrated, run roscore in an independent terminal
• Then, in a new terminal, cd to the hello-stretch-server directory and run

  python3 start_server.py