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Simulation tutorial patches #45

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Simulation tutorial patches #45

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5862fb0
Add source suggestion to fix env variables missing
kjy5 Apr 15, 2026
fcc5989
Add demo instruction patches
kjy5 Apr 15, 2026
97cea0b
Apply suggestions from code review
kjy5 Apr 15, 2026
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27 changes: 25 additions & 2 deletions ros2/stretch_simulation.md
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,9 @@ curl -sL https://raw.githubusercontent.com/hello-robot/stretch_ros2/refs/heads/h

# Add ROS 2 environment to your shell profile (optional but recommended)
echo 'source ~/ament_ws/install/setup.bash' >> ~/.bashrc

# Then source .bashrc to continue using this terminal
source ~/.bashrc
```

**Troubleshooting**: If you encounter a numpy header error during compilation:
Expand Down Expand Up @@ -229,21 +232,41 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:

### Web Interface Control

The web interface provides a graphical way to control the robot:
The web interface provides a graphical way to control the robot.

We will use the uncalibrated model for this demo.

```bash
# Set up web teleop (one-time setup)
cd ~/ament_ws/src/stretch_ros2/stretch_description/urdf
cp ./stretch_uncalibrated.urdf stretch.urdf
```

Patch the controller calibration to use the factory default one. Open `export_urdf.sh` and search for `controller_calibration_head`. Update that `cp` command with the following:

```bash
cp `ros2 pkg prefix stretch_core`/share/stretch_core/config/controller_calibration_head_factory_default.yaml ./exported_urdf/
```

Complete the model export:

```bash
sudo apt install rpl
./export_urdf.sh

mkdir -p $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf
cp -r ./exported_urdf/* $HELLO_FLEET_PATH/$HELLO_FLEET_ID/exported_urdf
```

Finally, before launching, copy and rename the certificates to match the expected names:

cd ~/ament_ws/src/stretch_web_teleop/certificates
cp stretch-se3-local+6.pem server.crt
cp stretch-se3-local+6-key.pem server.key
```

Launch web teleop:

```bash
# Terminal 1: Simulation with cameras
MUJOCO_GL=egl ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=false mode:=position use_cameras:=true
Expand Down Expand Up @@ -559,4 +582,4 @@ ros2 topic info /stretch/cmd_vel

- Ensure `use_sim_time:=true` is set for navigation nodes

The simulation provides a safe environment to test your code before deploying to the real robot. Happy coding!
The simulation provides a safe environment to test your code before deploying to the real robot. Happy coding!