## Experimental ROS Noetic, Python 3, Ubuntu 20.04 Development Branch
This is an experimental 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 close to being in a usable state. but **we don't recommend trying it yet**.
In the near future, we expect to begin using it internally at Hello Robot to continue refining it while adding new capabilities. We also expect some customers who have requested this port to begin trying it out. However, we have more work to do before this happens, including writing installation documentation.
If you decide to use this branch, **you will need to install Ubuntu 20.04 on a second partition on your robot**. As such, it's a significant installation process.
If you do begin using this branch, **please file issues here and ask general questions on the forum**.
## Installation Instructions
1. Install a partition with 20.04
1. Download and write the Ubuntu 20.04 iso file to a USB key.
2. Make sure you have sufficient space on your robot’s solid state drive (SSD) and backup all of your critical files.
3. Boot the robot with the USB key plugged into a USB port in the robot’s trunk.
4. The installer should detect your Ubuntu 18.04 installation and provide the option to install Ubuntu 20.04 alongside Ubuntu 18.04. This option will be selected by default.
5. Proceeding with this option will result in a new partition with Ubuntu 20.04, although there must be sufficient available space on the robot’s SSD.
2. Copy materials from your Ubuntu 18.04 partition
1. Boot into your Ubuntu 20.04 partition.
2. Mount your Ubuntu 18.04 partition. For example, you can do this by going to “+ Other Locations” using the file explorer GUI and clicking on the Volume associaed with your Ubuntu 18.04 partition.
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
**Please be aware that the code in this repository is currently under heavy development.**
## 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 |
@ -18,23 +39,6 @@ The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile m
[stretch_funmap](https://github.com/hello-robot/stretch_ros/blob/master/stretch_funmap/README.md) | Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
[stretch_navigation](https://github.com/hello-robot/stretch_ros/blob/master/stretch_navigation/README.md) | Support for the ROS navigation stack, including move_base, gmapping, and AMCL.
## Code Status & Development Plans
We intend for the following high-level summary to provide guidance about the current state of the code and planned development activities.
Directory | Testing Status | Notes
hello_helpers | GOOD |
stretch_calibration | GOOD |
stretch_core | GOOD |
stretch_deep_perception | GOOD |
stretch_demos | FAIR | current development focus
stretch_description | GOOD |
stretch_funmap | FAIR | current development focus
stretch_navigation | GOOD |
## 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.
Charlie Kemp
3 years ago
GitHub