# Running robot joints and base using node

**URL:** <https://forum.hello-robot.com/t/running-robot-joints-and-base-using-node/708>\
**Category:** Ask\
**Created:** [May 15, 2023, 3:19pm UTC](https://forum.hello-robot.com/t/running-robot-joints-and-base-using-node/708 "2023-05-15T15:19:16Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Rupesh](https://avatars.discourse-cdn.com/v4/letter/r/c2a13f/32.png) [@Rupesh](https://forum.hello-robot.com/u/Rupesh)\
**Post date:** [May 15, 2023, 3:19pm UTC](https://forum.hello-robot.com/t/running-robot-joints-and-base-using-node/708/1 "2023-05-15T15:19:16Z")

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Hi. Is there any tutorial related to running robot joints and base using node? Also, when we will be able to access recordings of “Reach to Aruco Demo Workshops”? I think that might also be helpful to know how we can use node to control the joints.

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [May 16, 2023, 6:55am UTC](https://forum.hello-robot.com/t/running-robot-joints-and-base-using-node/708/2 "2023-05-16T06:55:25Z")

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Hi @Rupesh, the “Reach to Aruco Workshops” recordings are currently being edited. In the meanwhile, the following ROS tutorials seem like a good fit for what you’re looking for:

1. [Follow Joint Trajectory Tutorial](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/follow_joint_trajectory/)
2. [Nav Stack Tutorial](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/navigation_stack/)
3. [Nav Stack Code Tutorial](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/example_13/)
4. [Base Velocity Commands](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/example_1/)