Struggle with startup with stretch robot

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61

Hi Jason,
I am currently experiencing a connection issue between the ML computer and the robot computer, even though I have verified the network and confirmed that it is functioning properly. When I attempt to connect via RustDesk, I receive the following message.

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image1920×1080 63.4 KB

62

Hi @Mallak_Alqaisi,

Could you please try the following steps:

  1. First, run these commands in a terminal on the robot:

    sudo usermod -aG render $USER
sudo usermod -aG video $USER

These ensure your user has the correct permissions for graphics and camera access.

  1. After running them, please log out and log back in (or reboot the robot) so the changes take effect.

  2. Then, restart RustDesk:

    pkill rustdesk
rustdesk

  3. Once it’s back up, try connecting again a few times. We’ve seen cases where it takes a couple of attempts for the connection to go through.

  4. Also, could you confirm if you have a dummy HDMI plug (display emulator) connected to the robot?
    This can be important, as some systems require an active display output for remote desktop tools like RustDesk to work properly.

If you don’t have one connected, that could be contributing to the issue.

Let me know how it goes and we’ll take it from there!

63

Hello Jason,

Now I’m trying to do Dynamem demo but there is issue:

On the robot i run these command:

1- cd stretch_ai stretch_free_robot_process.py
stretch_robot_home.py

2- bash ./scripts/run_stretch_ai_ros2_bridge_server.sh --update

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image1920×1013 531 KB

On the PC:

1- cd stretch_ai

mamba activate stretch_ai_0.3.3

2- scp hello-robot@192.168.1.2:~/ament_ws/src/stretch_ros2/stretch_description/urdf/stretch.urdf stretch_ai/src/stretch/config/urdf/

3- python -m stretch.app.run_dynamem
–robot_ip 192.168.1.2
–server_ip 192.168.1.4

After that i got this:

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image1920×1080 239 KB

And i’m still waiting for anything happen for 30 mins but there is no change!

Should i do anything ?

64

Hello @Mallak_Alqaisi,

Thanks for sharing the steps you followed and the screenshots.

The demo seems to default to AnyGrasp , which requires additional setup before it can run properly. If that is not configured yet, the process can appear to hang without any visible change.

Could you please try running the demo again in visual servoing mode by adding the -V flag? This bypasses AnyGrasp and uses visual servoing instead.

python -m stretch.app.run_dynamem --robot_ip 192.168.1.2 --server_ip 192.168.1.4 -S -V

If the issue is related to AnyGrasp not being set up, this should allow the demo to proceed.

Also, for future questions, it would be really helpful if you could open a new thread on the forum for each new issue. It makes it much easier for us to track and support you clearly.

Please let me know what happens after trying this, and if it still gets stuck, feel free to share the updated terminal output.

Best,
Jason