# Error Running run\_stretch\_ai\_ros2\_bridge\_server.sh on Stretch

**URL:** <https://forum.hello-robot.com/t/error-running-run-stretch-ai-ros2-bridge-server-sh-on-stretch/1296>\
**Category:** Ask\
**Created:** [March 26, 2025, 4:32pm UTC](https://forum.hello-robot.com/t/error-running-run-stretch-ai-ros2-bridge-server-sh-on-stretch/1296 "2025-03-26T16:32:34Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![olaghattas](https://avatars.discourse-cdn.com/v4/letter/o/57b2e6/32.png) [@olaghattas](https://forum.hello-robot.com/u/olaghattas)\
**Post date:** [March 26, 2025, 4:32pm UTC](https://forum.hello-robot.com/t/error-running-run-stretch-ai-ros2-bridge-server-sh-on-stretch/1296/1 "2025-03-26T16:32:34Z")

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Hi,  
I am trying to get `stretch_ai` to work on Stretch, but I am encountering an error when running the following command on the robot:  
./scripts/run\_stretch\_ai\_ros2\_bridge\_server.sh

Here is the error message for reference:

[stretch\_driver-5] [INFO] [1743006730.828510300] [stretch\_driver]: Changed to mode = position  
[server-12] [INFO] [1743006730.849850766] [ros2\_zmq\_server]: Now in position mode.  
[server-12] Exception in thread Thread-3 (spin\_recv):  
[server-12] Traceback (most recent call last):  
[server-12] File “/usr/lib/python3.10/threading.py”, line 1016, in \_bootstrap\_inner  
[server-12] self.run()  
[server-12] File “/usr/lib/python3.10/threading.py”, line 953, in run  
[server-12] self.\_target(\*self.\_args, \*\*self.\_kwargs)  
[server-12] File “/home/hello-robot/stretch\_ai/src/stretch/core/server.py”, line 222, in spin\_recv  
[server-12] self.handle\_action(action)  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/server.py”, line 132, in handle\_action  
[server-12] self.client.move\_to\_manip\_posture()  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/api.py”, line 248, in move\_to\_manip\_posture  
[server-12] self.manip.goto\_joint\_positions(pos, head\_pan=pan, head\_tilt=tilt, blocking=True)  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/modules/abstract.py”, line 27, in wrapper  
[server-12] return func(self, \*args, \*\*kwargs)  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/modules/manip.py”, line 205, in goto\_joint\_positions  
[server-12] self.\_ros\_client.send\_joint\_goals(joint\_goals, velocities=velocities)  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/ros.py”, line 256, in send\_joint\_goals  
[server-12] joint\_pose = self.\_process\_joint\_status(self.joint\_status)  
[server-12] File “/home/hello-robot/ament\_ws/install/stretch\_ros2\_bridge/lib/python3.10/site-packages/stretch\_ros2\_bridge/remote/ros.py”, line 220, in \_process\_joint\_status  
[server-12] pose[self.Idx.GRIPPER] = j\_status[ROS\_GRIPPER\_FINGER]  
[server-12] KeyError: ‘joint\_gripper\_finger\_left’

Any suggestions on how to resolve this?

`stretch_system_check` passes for all the hardware, so I’m unsure whether this is a hardware or software issue.

Thanks!

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<div class="post-metadata">

**Author:** ![olaghattas](https://avatars.discourse-cdn.com/v4/letter/o/57b2e6/32.png) [@olaghattas](https://forum.hello-robot.com/u/olaghattas)\
**Post date:** [March 26, 2025, 4:55pm UTC](https://forum.hello-robot.com/t/error-running-run-stretch-ai-ros2-bridge-server-sh-on-stretch/1296/2 "2025-03-26T16:55:10Z")

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Fixed. The problem was that the stertch was configured with the tablet as the tool, changing it back to eoa\_wrist\_dw3\_tool\_sg3 fixed the issue.  
For reference this can be done with stretch\_configure\_tool.py