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.
First clone the repository to your hello robot. Using requirements.txt, you can install the required packages.
Important: Make sure the requirements are installed in the root python environment (the same environment where stretch_body package is installed) on your stretch robot. Otherwise, this code will not work.
To run the server, follow the following steps:
- Make sure your robot is joint-calibrated by running
stretch_robot_home.py
- Once calibrated, run
roscorein an independent terminal - Then, in a new terminal, cd to the hello-stretch-server directory and run
python3 start_server.py