stretch_ros/README.md

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## ROS Noetic Development Branch

This is a development branch that we are using to port *stretch_ros* to ROS Noetic, Python 3, and Ubuntu 20.04. We plan to begin shipping this version preinstalled on Stretch RE1 robots at the end of the summer of 2021. It is in a usable state, but has known limitations that we've listed below. It is also unstable, since we are actively conducting development in this branch. Since we have performed limited testing, you may encounter unexpected behaviors. Also, installation **requires Ubuntu 20.04 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. We also anticipate that some customers will begin working with this development branch. If you wish to try it, please see the [installation guide](install_noetic.md). **Both this branch and the installation guide are under active development. Please proceed with caution.**

**Please file issues here and ask general questions on the [forum](https://forum.hello-robot.com)**.

## Known Issues

 - There is no support for the Respeaker Microphone Array.
 - There is no support for the Dexterous Wrist.

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## Directories

The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile manipulator from Hello Robot Inc. For an overview of the capabilities in this repository, we recommend you look at the following forum post: https://forum.hello-robot.com/t/autonomy-video-details


| Resource                                                     | Description                                                  |
| ------------------------------------------------------------ | ------------------------------------------------------------ |
[hello_helpers](hello_helpers/README.md) | Miscellaneous helper code used across the stretch_ros repository
[stretch_calibration](stretch_calibration/README.md) | Creates and updates calibrated URDFs for the Stretch RE1
[stretch_core](stretch_core/README.md) | Enables basic use of the Stretch RE1 from ROS
[stretch_deep_perception](stretch_deep_perception/README.md) | Demonstrations that use open deep learning models to perceive the world
[stretch_demos](stretch_demos/README.md) | Demonstrations of simple autonomous manipulation
[stretch_description](stretch_description/README.md) | Generate and export URDFs
[stretch_funmap](stretch_funmap/README.md) | Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
[stretch_gazebo](stretch_gazebo/README.md) | Support for simulation of Stretch in the Gazebo simulator
[stretch_moveit_config](stretch_gazebo/README.md) | Config files to use Stretch with the MoveIt Motion Planning Framework
[stretch_navigation](stretch_navigation/README.md) | Support for the ROS navigation stack, including move_base, gmapping, and AMCL

## Licenses

This software is intended for use with the Stretch RE1 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](http://www.apache.org/licenses/LICENSE-2.0)
stretch_calibration | [GPLv3](https://www.gnu.org/licenses/gpl-3.0.html)
stretch_core | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
stretch_deep_perception | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
stretch_demos | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
stretch_description | [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/)
stretch_funmap | [LGPLv3](https://www.gnu.org/licenses/lgpl-3.0.en.html)
stretch_gazebo | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
stretch_moveit_config | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)
stretch_navigation | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)