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stretch_ros
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stretch_ros/stretch_plan_client/README.md

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  • Install ../stretch_demo.repos
  • Compile
  • ros2 launch stretch_moveit_config demo.launch.py
  • ros2 launch stretch_plan_client demo.launch.py

The later command should produce a plan around the box, but doesn't seem to avoid the box, and only occasionally completes the planning step.