Getting Started

This repository holds ROS Noetic code for the Stretch mobile manipulator from Hello Robot Inc. To get started with this code, take a look at the Stretch ROS Tutorials.

Directories

Resource	Description
hello_helpers	Miscellaneous helper code used across the stretch_ros repository
stretch_calibration	Creates and updates calibrated URDFs for Stretch
stretch_core	Drivers to use Stretch from ROS
stretch_dashboard	Dashboard showing health and diagnostic stats about 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 MoveIt Motion Planning Framework
stretch_navigation	Support for the ROS navigation stack, including move_base, gmapping, and AMCL
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)

Licenses

This software is intended for use with the Stretch mobile manipulators, 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