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. First, there has been limited testing of this port, so standard use may result in unexpected behaviors. Second, the installation requires Ubuntu 20.04 on a second partition of your robot's hard drive. As such, it's a significant installation process.

In the near future, we expect to begin using this port 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. For users who wish to test out the Noetic port, please see the installation guide. This guide is in active development as well. Please proceed with caution.

If you do begin using this branch, please file issues here and ask general questions on the forum.

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	Miscellaneous helper code used across the stretch_ros repository
stretch_calibration	Creates and updates calibrated URDFs for the Stretch RE1
stretch_core	Enables basic use of the Stretch RE1 from ROS
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_navigation	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
stretch_calibration	GPLv3
stretch_core	Apache 2.0
stretch_deep_perception	Apache 2.0
stretch_demos	Apache 2.0
stretch_description	CC BY-NC-SA 4.0
stretch_funmap	LGPLv3
stretch_navigation	Apache 2.0