This is a development branch that we are using to port stretch_ros to ROS 2 Iron, Python 3, and Ubuntu 22.04. We plan to begin shipping this version preinstalled on Stretch robots in the future. It is not in a stable state, since we are actively conducting development in this branch. Since we have performed limited testing, you may encounter unexpected behaviors. Also, the installation requires Ubuntu 22.04 on a second partition of your robot's hard drive.
We are beginning to use this port internally at Hello Robot to test it, improve it, and add new capabilities.
- Stretch Core (Partial)
- Stretch driver
- RPLidar driver
- D435i driver
- Aruco Detection
- Keyboard teleop (known bugs)
- Hello Helpers
- Stretch Calibration
- Stretch Description
- Stretch Nav2
- Mapping with slam_toolbox
- Navigation with nav2
- Simple Commander Python API
- Stretch Deep Perception
- Object Detection with YOLOv5 using PyTorch
- Head Pose Estimation with OpenVINO
- Stretch Demos
- Stretch FUNMAP
No support for:
- Stretch Core
- ReSpeaker driver
- Stretch Dashboard
- Stretch Deep Perception
- Stretch Gazebo
- Stretch OctoMap
- Stretch RTABMap
- There is no support for the Respeaker Microphone Array.
The stretch_ros2 repository holds ROS 2 related code for the Stretch mobile manipulator from Hello Robot Inc.
| Resource | Description |
|---|---|
| hello_helpers | Miscellaneous helper code used across the stretch_ros2 repository |
| stretch_calibration | Creates and updates calibrated URDFs for the Stretch mobile manipulator |
| stretch_core | ROS 2 drivers for Stretch |
| stretch_deep_perception | Demonstrations that use open deep learning models to perceive the world |
| stretch_demos | Demonstrations of simple autonomous manipulation |
| stretch_description | Generate and export URDFs |
| stretch_funmap | Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP) |
| stretch_gazebo | Support for simulation of Stretch in the Gazebo simulator |
| stretch_moveit_config | Config files to use Stretch with the MoveIt2 Motion Planning Framework |
| stretch_navigation | Support for the ROS navigation stack Nav2, including slam_toolbox, AMCL and Simple Commander |
| stretch_octomap | Support for mapping using OctoMap: efficient probabilistic 3D Mapping based on Octrees |
| stretch_rtabmap | Support for mapping using Real-Time Appearance-Based Mapping (RTAB-Map) |
This software is intended for use with the Stretch mobile manipulator, which is a robot 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:
| Directory | License |
|---|---|
| hello_helpers | Apache 2.0 |
| stretch_calibration | GPLv3 |
| stretch_core | Apache 2.0 |
| stretch_deep_perception | Apache 2.0 |
| stretch_demos | Apache 2.0 |
| stretch_description | BSD 3-Clause Clear License |
| stretch_funmap | LGPLv3 |
| stretch_gazebo | Apache 2.0 |
| stretch_moveit_config | Apache 2.0 |
| stretch_navigation | Apache 2.0 |
| stretch_octomap | Apache 2.0 |
| stretch_rtabmap | Apache 2.0 |