stretchit_halloween_candy_distributer

This is a ROS1 workspace built to distribute candies(technically it can be anything that Stretch can grasp) using Stretch.

It uses the Xbox controller to trigger the pick and place candy task.

The action is hardcoded and the starting and end postion is static for now.

How to run it ?

• Build the workspace
  • cd stretchit_halloween_candy_distributer
  • catkin_make
• Run the Nodes
  • stretch_robot_home.py
  • roslaunch candy_distributor candy_distributor.launch

Features

• Continuous mode - Distributes the candies continuously.
• Discrete mode - Distributes the candy only once.
• Special sound effects

What is there is no xboz controller, will this repository still work?

• the modes can be switched using an xbox controller or by publishing the below strings on joystick_state topic.
  • "A" - Run pick and place action once
  • "B" - Toggle the continuous pick and place action

dependencies

• pip
  • Google text to speech -gTTS
  • playsound
• other
  • stretch_ros workspace
  • robot-upstart

StartUp

• add the launch file to startup
  • rosrun robot_upstart install candy_distributor/launch/candy_distributor.launch
• to stop the process after autostart (for whatever reason)
  • sudo systemctl stop candy

Aruco Candy distributor

setup

(aruco tag)

Running

1. Launch each of the following in seperate terminals

roslaunch stretch_core stretch_driver.launch
roslaunch stretch_core d435i_high_resolution.launch
roslaunch stretch_core stretch_aruco.launch  

2. source the halloween_ws and run the aruco_candy node

cd stretchit_halloween_candy_distributer
source devel/setup.bash
rosrun candy_distributor aruco_candy.py 

Usage send a service request to candy_pick_service. input to the service is a int corresponding to the candy the person wants. 1,2 or 3.