Yes, you have to do it. The stamping process includes filling out a I551 form (by the officer) which triggers your card order and delivery. Also they take fingerprints and collect new photographs from you.
Smag,
I am in Chicago too. You go to http://infopass.uscis.gov/ and click on the language you understand. Then follow instructions. Most likely they will send you to Jackson blvd. Schedule an appointment around your lunch time, go inside, register (get a ticket) and then go have a lunch (the wait time is usually a couple of hours even if you had an appointment).
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