Fetch & Freight
Research Edition
Introduction
Before you Start
Safety
Safety Overview
Design Features
General Usage Guidelines
Warning Labels
Pinch Point
Electrical Shock
Laser Beam
Read The Manual
Getting Started
What’s In Box
Fetch and Freight
Toolkit
Robot Power Supply
Running Fetch and Freight
Turning on Fetch and Freight
Logging In
Connecting a Monitor (Optional)
Default User Account
Creating User Accounts
Tucking Fetch’s Arm
Driving Fetch and Freight with a Joystick
Moving the Base with your Keyboard
Visualizing Data
Using the Runtime Monitor
Putting Fetch and Freight Away
Robot Hardware Overview
Mechanism Terminology
Link
Frame
Joint
Fetch Home Pose
Coordinate System
Naming Conventions
Mechanical Overview
Environmental
Drive Surface
Incline Surface
Water
Temperature and Humidity
Forces and Torques
Joint Limits and Types
Mount Points
Gripper Modularity Interface
Electrical Overview
Breakers
Power Disconnect Switch
Runstop
Access Panel
Freight Extensibility Interfaces
Motion Control
Sensor Overview
Base Laser
IMU
Head Camera
Gripper Sensors
Computer Overview and Configuration
Default User Account
Creating User Accounts
Networking
Connecting the Robot to a Wireless Network
Configuring the Robot to use a Static IP for Access Panel Ethernet
Troubleshooting ROS Interactions with Robot Across a Network
Clock Synchronization
Upstart Services
Log Files
Speakers and Audio
Care And Feeding
Charging
Batteries
Updating Your Robot
Re-Setting up apt Sources
Cleaning Your Robot
ROS Melodic + Ubuntu 18.04
Known issues
Upgrading Your Robot to ROS Melodic + Ubuntu 18.04
Before Upgrade
AUTOMATED INSTALLER: 18.04 and ROS Melodic Install
MANUAL APPROACH: 18.04 Install and Installing ROS/Fetch Packages
Post-install Validation
Compatibility of Other Computers Used with the Robot
Not Supported: Upgrading from 14.04 to 18.04 (via 16.04)
Appendices
Subsequent upgrade notes
Accessing Boot Menu on Fetch Robots
Disk filling issue
Ensuring robot’s ethernet ports are configured correctly
Tutorial: Visualization
Visualizing with RVIZ
Using the Runtime Monitor
Tutorial: Gazebo Simulation
Installation
Starting the Simulator
Simulating a Freight
Visualizing with RVIZ
Running the Mobile Manipulation Demo
Launch it on ROSDS
Simulation vs. Real Robots
Tutorial: Robot Teleop
Using the Robot Joystick
Moving the Base with your Keyboard
Software Runstop
Using Software Runstop
Enable Teleop Software Runstop
Re-pairing Robot Joystick that Won’t Connect
Using Deadzone Parameter to Correct Drift
Tutorial: Navigation
Running Navigation in Gazebo Simulation
Running Navigation on a Real Robot
Building A Map
Sending Waypoints
Tutorial: Manipulation
Getting Started Demo
Running the Pick and Place Demo
Running MoveIt! on a Robot
Simple MoveIt! Disco Example
Simple MoveIt! Wave Example
More information and Tutorials on MoveIt!
Tutorial: Perception
Head Camera Topics
Running the Pick and Place Demo
Tutorial: Auto Docking
Installing fetch_auto_dock
Running the Docking Node
Auto Docking Programmatically
Tutorial: Calibrating Fetch
Understanding Calibration
Calibrate Robot Tool
Running Calibration
Calibrating Fetch Torso
Torso Calibration Procedure
Calibration Output
Output When Verifying New Torso Calibration
Tutorial: Fetch Programming by Demonstration
System Requirements
Installing from Source
Running
Using the GUI
Code Interface
System Overview
API Overview
Arm and Torso
Base Interface
Head Interface
Gripper Interface
Head Camera Interface
Laser Interface
IMU Interface
Resetting Breakers
Release Notes
September 10, 2019
August 9, 2019
April 4, 2019
December 18, 2017
November 29, 2016
May 28, 2016
January 21, 2016
November 23, 2015
November 12, 2015
August 5, 2015
July 9, 2015
June 8, 2015
Frequently Asked Questions
How can I cite Fetch or Freight in an Academic Paper?
Why won’t my robot do anything at all (charge, move, etc…)?
Why won’t my robot turn on when I push the power button?
Why won’t my robot move when I use my PS3/PS4 joystick?
The robot will not move and/or slows down near obstacles, why?
I just sent a trajectory command to the arm and now it won’t gravity compensate, help?
Issues and Support
When you encounter an issue
Reporting software bugs
Contacting Fetch Support
Reaching Fetch Support
How do I create a good support ticket?
Notices
FCC Notice
Copyright Notices for Open Source Software
Trademarks
License
Fetch & Freight Research Edition
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