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Getting Started

This repository holds ROS 2 Humble packages for the Stretch mobile manipulators from Hello Robot Inc. To get started with this code, take a look at the Stretch ROS 2 Tutorials. If your robot's operating system doesn't contain ROS 2 (details on distributions here), check out the Upgrading your Operating System guide.

<!--- TODO: If you are porting code build on Stretch's ROS 1 Noetic packages, check out the [Migrating to ROS 2]((https://docs.hello-robot.com/0.3/ros2/TODO/) guide. -->

Directories

ResourceDescription
stretch_calibrationCreates calibrated URDFs for Stretch
stretch_coreROS 2 drivers for Stretch
stretch_deep_perceptionDemonstrations that use open deep learning models to perceive the world
stretch_demosDemonstrations of simple autonomous manipulation
stretch_descriptionDescription files for Stretch
stretch_funmapDemonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
stretch_nav2Navigation stack Nav2, including slam_toolbox, AMCL and Simple Commander
stretch_octomapMapping using OctoMap: efficient probabilistic 3D Mapping based on Octrees
stretch_rtabmapNavigation & Mapping using Real-Time Appearance-Based Mapping (RTAB-Map)
hello_helpersMiscellaneous helper code used across the stretch_ros2 repository

Licenses

This software is intended for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. For further information, including inquiries about dual licensing, please contact Hello Robot Inc.

For license details for this repository, see the LICENSE files found in the directories. A summary of the licenses follows:

DirectoryLicense
stretch_calibrationGPLv3
stretch_coreApache 2.0
stretch_deep_perceptionApache 2.0
stretch_demosApache 2.0
stretch_descriptionBSD 3-Clause Clear License
stretch_funmapLGPLv3
stretch_nav2Apache 2.0
stretch_octomapApache 2.0
stretch_rtabmapApache 2.0
hello_helpersApache 2.0