stretch_wsad_teleop

Standalone WSAD keyboard teleoperation node for Hello Robot Stretch on ROS 2.

• w/s: forward/backward
• a/d: turn left/right
• space or x: stop
• q: quit

Dependencies

• ROS 2 Humble
• rclpy, geometry_msgs, std_srvs

Build (inside container)

colcon build --packages-select stretch_wsad_teleop
source /ws/install/setup.bash

Run

The driver launch file is from the official repository (stretch_core), and the following command works:

ros2 launch stretch_core stretch_driver.launch.py mode:=navigation broadcast_odom_tf:=True
ros2 run stretch_wsad_teleop wsad_teleop

Launch file

ros2 launch stretch_wsad_teleop wsad_teleop.launch.py

You can override parameters:

ros2 launch stretch_wsad_teleop wsad_teleop.launch.py \
  topic:=/stretch/cmd_vel linear:=0.2 angular:=1.0 repeat_stop_timeout:=0.2 auto_switch_mode:=true

Notes

• The node attempts to call /switch_to_navigation_mode (Trigger) on startup if auto_switch_mode is true.
• It publishes to /stretch/cmd_vel by default.

Official Repository

• Hello Robot Stretch ROS 2: https://github.com/hello-robot/stretch_ros2
• stretch_core package (driver and launch files): https://github.com/hello-robot/stretch_ros2/tree/main/stretch_core

License

Apache-2.0