I was trying to use the Nav2 stack to navigate towards a preset Aruco marker, then I was hoping to use the aruco_align functionality to align the Stretch RE1 with the aruco marker for a pick task. However, it seems like the driver for the Nav2 stack needs to be killed to free the driver for the aruco_align. Are there any work arounds?
Thanks for reaching out! Quick question before we dive in, could you please share your robot’s serial number?
What you’re seeing is happening because both Nav2 and align_to_aruco.launch.py start a stretch_driver, and only one instance can control the robot at a time.
Since Nav2 already launches the driver, I recommend editing:
stretch_core/launch/align_to_aruco.launch.py
and commenting out (or removing) the stretch_driver node there.
After making this change, make sure to rebuild and source your workspace:
colcon build
source install/setup.bash
Then your workflow can be:
- Navigate with Nav2
- Cancel the goal and stop the robot
- Switch to position mode
- Run ArUco alignment
This way everything uses the same driver and avoids the conflict.
Best,
Jason
I believe the serial number is 1050. Also, thank you for the quick reply, I will let you know how the change goes!
Thanks for confirming the serial number.
Sounds good, let me know how it goes. Happy to help further if anything comes up.
Just wanted to check in and see how things went with the change we discussed.
Best,
Jason