Hello,
I was having trouble getting the grasp objects demo to work for Stretch3. Specifically, the keyboard teleop is not triggering, despite saying that the grasp demo has launched. I’m new to the Stretch platform, only been working with it for about a month and I would greatly appreciate some help to try and figure out how to get this demo to work.
For context, I am trying to pick up a blue water bottle off a dining table at about Stretch’s halfway point. I aligned the end effector (but kept it stowed so as to not interfere with the realsense camera up top) to see it, and a check of the realsense-viewer shows that the camera is seeing fine. I have put a log file below. I am pretty sure FUNMAP works properly, as I have already used the mapping demo to make a full map of my environment and navigate in the space.
Please let me know if there is anything else you need from me, and thanks in advance for the assistance.
[INFO] [launch]: All log files can be found below /home/hello-robot/.ros/log/2026-06-15-11-31-07-686241-stretch-se3-3164-13506
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: D435i launched in high resolution
[INFO] [realsense2_camera_node-1]: process started with pid [13527]
[INFO] [stretch_driver-5]: process started with pid [13535]
[INFO] [d435i_accel_correction-2]: process started with pid [13529]
[INFO] [joint_state_publisher-3]: process started with pid [13531]
[INFO] [robot_state_publisher-4]: process started with pid [13533]
[INFO] [funmap-6]: process started with pid [13537]
[INFO] [grasp_object-7]: process started with pid [13539]
[INFO] [static_transform_publisher-8]: process started with pid [13541]
[static_transform_publisher-8] [INFO] [1781537468.008023447] [static_transform_publisher_XHmDFWK0Z7GSHmJV]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-8] rotation: ('0.500000', '0.500000', '-0.500000', '0.500000')
[static_transform_publisher-8] from 'link_straight_gripper' to 'link_straight_gripper_aligned'
[d435i_accel_correction-2] [INFO] [1781537468.317602081] [d435i_accel_correction_node]: d435i_accel_correction_node started
[realsense2_camera_node-1] e[0m[INFO] [1781537468.589058658] [camera]: RealSense ROS v4.55.1e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.589166084] [camera]: Built with LibRealSense v2.56.4e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.589179439] [camera]: Running with LibRealSense v2.56.5e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537468.589187539] [camera]: ***************************************************e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537468.589194133] [camera]: ** running with a different librealsense version **e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537468.589200173] [camera]: ** than the one the wrapper was compiled with! **e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537468.589206273] [camera]: ***************************************************e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640065688] [camera]: Device with serial number 244222072937 was found.
[realsense2_camera_node-1] e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640136384] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640154795] [camera]: Device with name Intel RealSense D435I was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640332914] [camera]: Device with port number 2-1 was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640355402] [camera]: Device USB type: 3.2e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537468.640368247] [camera]: Resetting device...e[0m
[grasp_object-7] [INFO] [1781537468.980038876] [stretch_funmap]: MoveBase __init__: self.debug_directory = None
[grasp_object-7] MaxHeightImage information:
[grasp_object-7] image.shape = (67, 25)
[grasp_object-7] image.dtype = uint8
[grasp_object-7] m_per_pix = 0.006
[grasp_object-7] m_per_height_unit = 0.00027667984189723324
[grasp_object-7] voi.x_in_m = 0.15
[grasp_object-7] voi.y_in_m = 0.4
[grasp_object-7] voi.z_in_m = 0.07
[grasp_object-7] MaxHeightImage information:
[grasp_object-7] image.shape = (434, 350)
[grasp_object-7] image.dtype = uint8
[grasp_object-7] m_per_pix = 0.006
[grasp_object-7] m_per_height_unit = 0.004566929133858267
[grasp_object-7] voi.x_in_m = 2.1
[grasp_object-7] voi.y_in_m = 2.6
[grasp_object-7] voi.z_in_m = 1.16
[grasp_object-7] Traceback (most recent call last):
[grasp_object-7] File "/home/hello-robot/ament_ws/install/stretch_demos/lib/stretch_demos/grasp_object", line 33, in <module>
[grasp_object-7] sys.exit(load_entry_point('stretch-demos==0.0.0', 'console_scripts', 'grasp_object')())
[grasp_object-7] File "/home/hello-robot/ament_ws/install/stretch_demos/lib/python3.10/site-packages/stretch_demos/grasp_object.py", line 233, in main
[grasp_object-7] node = GraspObjectNode()
[grasp_object-7] File "/home/hello-robot/ament_ws/install/stretch_demos/lib/python3.10/site-packages/stretch_demos/grasp_object.py", line 28, in __init__
[grasp_object-7] self.move_base = nv.MoveBase(self)
[grasp_object-7] File "/home/hello-robot/ament_ws/build/stretch_funmap/stretch_funmap/navigate.py", line 215, in __init__
[grasp_object-7] self.node.declare_parameter('base_translate_velocity', 0.2)
[grasp_object-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 367, in declare_parameter
[grasp_object-7] return self.declare_parameters('', [args], ignore_override)[0]
[grasp_object-7] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 473, in declare_parameters
[grasp_object-7] if not ignore_override and name in self._parameter_overrides:
[grasp_object-7] AttributeError: 'GraspObjectNode' object has no attribute '_parameter_overrides'
[stretch_driver-5] e[0m[INFO] [1781537469.062933182] [stretch_driver]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.e[0m
[stretch_driver-5] e[0m[INFO] [1781537469.063223000] [stretch_driver]: stretch_driver startede[0m
[ERROR] [grasp_object-7]: process has died [pid 13539, exit code 1, cmd '/home/hello-robot/ament_ws/install/stretch_demos/lib/stretch_demos/grasp_object --ros-args --params-file /tmp/launch_params_zpyuu804'].
[funmap-6] [INFO] [1781537469.707536375] [funmap]: funmap started
[stretch_driver-5] Key mapped to End-Of-Arm Tool: eoa_wrist_dw3_tool_sg3
[stretch_driver-5] e[0m[INFO] [1781537470.795353131] [stretch_driver]: broadcast_odom_tf = Truee[0m
[stretch_driver-5] e[0m[INFO] [1781537470.839168850] [stretch_driver]: rate = 30.0 Hze[0m
[stretch_driver-5] e[0m[INFO] [1781537470.839538981] [stretch_driver]: twist timeout = 0.5 se[0m
[stretch_driver-5] e[0m[INFO] [1781537470.839833948] [stretch_driver]: base_frame_id = base_linke[0m
[stretch_driver-5] e[0m[INFO] [1781537470.840131171] [stretch_driver]: odom_frame_id = odome[0m
[stretch_driver-5] e[0m[INFO] [1781537470.885229807] [stretch_driver]: Changed to mode = positione[0m
[funmap-6] [INFO] [1781537471.014518703] [funmap]: Node funmap connected to /home_the_robot service.
[funmap-6] [INFO] [1781537471.017074716] [funmap]: Node funmap connected to /stow_the_robot service.
[funmap-6] [INFO] [1781537471.019138513] [funmap]: Node funmap connected to /stop_the_robot service.
[funmap-6] [INFO] [1781537471.026431810] [funmap]: Node funmap connected to /switch_to_trajectory_mode service.
[funmap-6] [INFO] [1781537471.028703419] [funmap]: Node funmap connected to /switch_to_position_mode service.
[funmap-6] [INFO] [1781537471.030366662] [funmap]: Node funmap connected to /switch_to_navigation_mode service.
[funmap-6] [INFO] [1781537471.031016599] [funmap]: Node funmap waiting to receive first point cloud.
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689099411] [camera]: Device with serial number 244222072937 was found.
[realsense2_camera_node-1] e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689219744] [camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0 was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689239270] [camera]: Device with name Intel RealSense D435I was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689709955] [camera]: Device with port number 2-1 was found.e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689750297] [camera]: Device USB type: 3.2e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537474.689947397] [camera]: getParameters...e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.043907735] [camera]: JSON file is loaded! (/home/hello-robot/ament_ws/install/stretch_core/share/stretch_core/config/HighAccuracyPreset.json)e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044035742] [camera]: Device Name: Intel RealSense D435Ie[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044074014] [camera]: Device Serial No: 244222072937e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044113139] [camera]: Device physical port: /sys/devices/pci0000:00/0000:00:0d.0/usb2/2-1/2-1:1.0/video4linux/video0e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044142993] [camera]: Device FW version: 5.17.0.10e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044170193] [camera]: Device Product ID: 0x0B3Ae[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.044195580] [camera]: Sync Mode: One[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537475.176491700] [camera]: re-enable the stream for the change to take effect.e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537475.177285532] [camera]: re-enable the stream for the change to take effect.e[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537475.186127541] [camera]: re-enable the stream for the change to take effect.e[0m
[realsense2_camera_node-1] e[31m[ERROR] [1781537475.186889153] [camera]: Given value, 63 is invalid. Set ROS param back to: 100e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.193197050] [camera]: Stopping Sensor: Depth Modulee[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.193286856] [camera]: Stopping Sensor: RGB Camerae[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.193316799] [camera]: Stopping Sensor: Motion Modulee[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.205841792] [camera]: Starting Sensor: Depth Modulee[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.218856806] [camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 1280, Height: 720, FPS: 15e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.222599791] [camera]: Starting Sensor: RGB Camerae[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.226372006] [camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 15e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.244774870] [camera]: Starting Sensor: Motion Modulee[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.247266846] [camera]: Open profile: stream_type: Accel(0)Format: MOTION_XYZ32F, FPS: 100e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.247324550] [camera]: Open profile: stream_type: Gyro(0)Format: MOTION_XYZ32F, FPS: 200e[0m
[realsense2_camera_node-1] e[0m[INFO] [1781537475.250471843] [camera]: RealSense Node Is Up!e[0m
[funmap-6] [INFO] [1781537476.038327380] [funmap]: Node funmap received first point cloud, so continuing.
[funmap-6] [INFO] [1781537476.078147087] [stretch_funmap]: MoveBase __init__: self.debug_directory = /home/hello-robot/stretch_user/debug/
[realsense2_camera_node-1] e[33m[WARN] [1781537476.206299573] [camera]: XXX Hardware Notification:Motion Module failure,1.78154e+12,Error,Hardware Errore[0m
[realsense2_camera_node-1] e[33m[WARN] [1781537476.206389971] [camera]: Hardware Notification:Motion Module failure,1.78154e+12,Error,Hardware Errore[0m
I did test to see if maybe the menu just wasn’t showing up, but the typical keyboard teleop commands had no effect.