Overview

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.

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_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

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
stretch_description	GOOD
stretch_funmap	FAIR
stretch_gazebo	FAIR	differs from stretch_core in its underlying controllers
stretch_moveit_config	FAIR	does not support mobile base planning in ROS 1
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.

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