---
# System prepended metadata

title: 12/19 ~ 12/21

---

# 12/19 ~ 12/21

## overview strech3
- Docs: https://docs.hello-robot.com/0.3/
- https://github.com/hello-robot/stretch_ros2/tree/humble
    - strech_core
        - robot movement controller
    - navigation
        - slam_toolbox
            - `ros2 launch stretch_nav2 offline_mapping.launch.py`
         - 3d mapping
             - `ros2 launch stretch_funmap mapping.launch.py`

## environment setup
- build a workspace stretch-ws
- Dockerfile
    - stuck on how to install dependenices of stretch
    - tend to try
        - see [stretch_install](https://github.com/hello-robot/stretch_install.git), [stretch_new_robot_install](https://github.com/hello-robot/stretch_install/blob/master/stretch_new_robot_install.sh)
            - https://github.com/hello-robot/stretch_install/blob/970989a700bed98bcf60c8bba0ec1598d2a04677/stretch_new_robot_install.sh#L144-L164
                ```sh
                cd $HOME/stretch_install/factory/$factory_osdir
                ./stretch_install_system.sh -l $logdir |& tee $logfile_system
                if [ $? -ne 0 ]; then
                    echo_failure_help
                fi

                echo ""
                cd $HOME/stretch_install
                ./stretch_new_user_install.sh -l $logdir |& tee $logfile_user
                if [ $? -ne 0 ]; then
                    echo_failure_help
                fi

                if $do_factory_install; then
                    echo ""
                    cd $HOME/stretch_install/factory/$factory_osdir
                    ./stretch_install_dev_tools.sh -l $logdir |& tee $logfile_dev_tools
                    if [ $? -ne 0 ]; then
                        echo_failure_help
                    fi
                fi
                ```
                - try skip user install and system install
            - manaully install what I want in [factory](https://github.com/hello-robot/stretch_install/tree/master/factory/22.04)

- isaacsim
    - [stretch_isaacsim](https://github.com/hello-robot/stretch_isaacsim/)
    - import usd into isaacsim
- slam
    - run launch file in another terminal, see if it works in isaacsim
- custom environment
        