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stretch_ros/stretch_moveit_config
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README.md

Stretch & MoveIt!

MoveIt is the standard ROS manipulation platform, and this package is the configuration for working with the Gazebo simulated Stretch with the MoveIt framework.

Warning: This package does not support running MoveIt! plans/trajectories on the actual Stretch robot. This package powers a demo of running MoveIt! plans/trajectories on a Gazebo simulated Stretch. Details here.

Offline Demo

To experiment with the planning capabilities of MoveIt on Stretch, you can run a demo without Stretch hardware.

roslaunch stretch_moveit_config demo.launch

This will allow you to move the robot around using interactive markers and create plans between poses.

Hardware Integration

There is no planned support to run MoveIt on Stretch hardware. Instead, support for running MoveIt 2 (the successor to MoveIt) on Stretch hardware is available in Stretch's ROS2 packages.

License

For license information, please see the LICENSE files.