stretch_tutorials/ros2/feature_comparison.md

ROS 1 v/s ROS 2 Feature Comparison

This document will help you better understand our progress of bringing parity between our ROS 1 and ROS 2 software offerings. Additional comments indicate changes in the API and/or behavior for a component.

Package	Node/Launch/Component	Item	ROS 1	ROS 2	Comments
Stretch Install	Humble	Installation scripts	NA	✓
Stretch Install	Humble	Mesh and URDF files	NA	✓
Stretch Install	Iron	Installation scripts	NA	✓
Stretch Install	Iron	Mesh and URDF files	NA	✓
Stretch Core	stretch_driver	JointTrajectoryAction Server, Position mode	✓	✓
Stretch Core	stretch_driver	JointTrajectoryAction Server, Navigation mode	✓	✓
Stretch Core	stretch_driver	JointTrajectoryAction Server, Trajectory mode	✕	✓	Smooth preemption missing
Stretch Core	stretch_driver	Mode topic	✕	✓
Stretch Core	stretch_driver	Mode services	✓	✓	ROS 1 does not have trajectory mode
Stretch Core	stretch_driver	Home/stop/stow services	✓	✓
Stretch Core	stretch_driver	Magnetometer and BatteryState topic	✓	✓
Stretch Core	stretch_driver	Joint states, joint limits	✓	✓
Stretch Core	stretch_driver	TF2	✓	✓
Stretch Core	keyboard_teleop	Teleoperation	✓	✓
Stretch Core	keyboard_teleop	Service triggers for demos	✓	✓
Stretch Core	detect_aruco_markers	Aruco marker detection	✓	✓
Stretch Core	rplidar	Driver	✓	✓
Stretch Core	rplidar	LaserScan filtering	✓	✓
Stretch Core	d435i	Driver	✓	✓
Stretch Core	d435i	High/Low resolution launch	✓	✓
Stretch Core	d435i	IMU	✓	✓
Stretch Core	d435i	Aligned depth	✓	✕	ROS 2 pending
Stretch Core	respeaker	Driver	✓	✕	ROS 2 pending
Stretch Core	API Docs	Documentation	✕	✕	ROS 1 and ROS 2 pending
Hello Helpers	hello_misc	HelloNode	✓	✓
Hello Helpers	hello_misc	Preprocess trajectories	✓	✓
Hello Helpers	hello_ros_viz	Create markers	✓	✓
Hello Helpers	simple_command_groups	SimpleCommandGroup	✓	✓
Hello Helpers	gripper_conversion	GripperConversion	✓	✓
Hello Helpers	fit_plane	Fit plane helper functions	✓	✓
Hello Helpers	configure_wrist	Switch between standard and dex wrist	✓	✓
Hello Helpers	API Docs	Documentation	✕	✕	ROS 1 and 2 pending
Stretch Description	stretch_description	Stretch URDF	✓	✓
Stretch Description	stretch_description	Standard Gripper xacro	✓	✓
Stretch Description	stretch_description	Dex wrist xacro	✓	✓
Stretch Description	stretch_description	Batch-specific mesh files	✓	✓
Stretch Calibration	collect_head_calibration_data	CollectHeadCalibrationDataNode	✓	✓
Stretch Calibration	process_head_calibration_data	HeadCalibrator, ProcessHeadCalibrationNode	✓	✓
Stretch Calibration	check_head_calibration	check_head_calibration	✓	✓
Stretch Calibration	revert_to_previous_calibration	revert_to_previous_calibration	✓	✓
Stretch Calibration	update_uncalibrated_urdf	update_uncalibrated_urdf	✓	✓
Stretch Calibration	update_urdf_after_xacro_change	update_urdf_after_xacro_change	✓	✓
Stretch Calibration	update_with_most_recent_calibration	update_with_most_recent_calibration	✓	✓
Stretch Calibration	visualize_most_recent_head_calibration	visualize_most_recent_head_calibration	✓	✓
Stretch Calibration	Revert to position mode	Revert to position mode	✓	✓
Stretch Tutorials	Getting started	Instructions	✓	✓
Stretch Tutorials	Modes tutorial	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch Tutorials	ROS 2 with rclpy	Instructions	✓	✓
Stretch Tutorials	Race conditions and deadlocks in ROS 2	Instructions	✓	✓
Stretch Tutorials	HelloNode Tutorial	Instructions	✓	✓
Stretch Tutorials	HFollow Joint Trajectory Commands	Trajectory mode	✓	✓
Stretch Tutorials	HFollow Joint Trajectory Commands	Joint Trajectory Server	✓	✓
Stretch Tutorials	Internal State of Stretch	Command line and RQT graph	✓	✓
Stretch Tutorials	RViz basics	Robot visualizationa and TF tree	✓	✓
Stretch Tutorials	Teleoperation	Velocity command of mobile base	✓	✓
Stretch Tutorials	Tf2 broadcaster and listener	TF2 static broadcaster and listener	✓	✓
Stretch Tutorials	Respeaker voice to text	Instructions	✓	✕	ROS 2 pending
Stretch Tutorials	API docs	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch Tutorials	Migration guides	From ROS1 Noetic & from ROS2 Galactic	NA	✕	ROS 2 pending
Stretch Tutorials	Nav2 stack	Mapping	✓	✓
Stretch Tutorials	Nav2 stack	Navigation	✓	✓
Stretch Tutorials	Filter laser scans	RPLidar and laserscan filtering	✓	✓
Stretch Tutorials	Deep perception	Objects and faces detection	✓	✓
Stretch Tutorials	FUNMAP demos	Instructions	✓	✓
Stretch Tutorials	Align to ArUco	ArUco detection, tf transforms and trajectory server	✓	✓
Stretch Tutorials	Obstacle avoider	RPLidar based sensing and avoidance	✓	✓
Stretch Tutorials	Mobile base collision avoidance	RPLidar based sensing and avoidance	✓	✕
Stretch FUNMAP	manipulation_planning	plan_surface_coverage, detect_cliff	✓	✓
Stretch FUNMAP	manipulation_planning	PlanarRobotModel, ManipulationPlanner	✓	✓
Stretch FUNMAP	manipulation_planning	ManipulationView	✓	✓
Stretch FUNMAP	mapping	robot stowing, scanning, & localizing methods	✓	✓
Stretch FUNMAP	mapping	HeadScan	✓	✓
Stretch FUNMAP	navigate	ForwardMotionObstacleDetector	✓	✓
Stretch FUNMAP	navigate	FastSingleViewPlanner	✓	✓
Stretch FUNMAP	navigate	MoveBase	✓	✓
Stretch FUNMAP	ros_max_height_image	ROSVolumeOfInterest	✓	✓
Stretch FUNMAP	ros_max_height_image	ROSMaxHeightImage	✓	✓
Stretch FUNMAP	funmap	ContactDetector, FunMapNode, services	✓	✓
Stretch FUNMAP	API Docs	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch Deep Perception	detection_node	DetectionNode	✓	✓
Stretch Deep Perception	detect_faces	OpenVINO Face Detection	✓	✓
Stretch Deep Perception	detect_objects	PyTorch YOLO object detection	✓	✓
Stretch Deep Perception	detect_nearest_mouth	OpenVINO Mouth Detection	✓	✓
Stretch Deep Perception	detect_nearest_mouth	OpenVINO Body Landmark Detection	✓	✓
Stretch Deep Perception	API Docs	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch Demos	hello_world	HelloWorldNode, services	✓	✓
Stretch Demos	clean_surface	CleanSurfaceNode, services	✓	✓
Stretch Demos	grasp_object	GraspObjectNode, services	✓	✓
Stretch Demos	handover_object	HandoverObjectNode, services	✓	✓
Stretch Demos	open_drawer	OpenDrawerNode, services	✓	✓
Stretch Demos	HelloNode API	Switch demos to HelloNode API	✓	✓
Stretch Demos	autodocking_behaviors	MoveBaseActionClient, CheckTF	✓	✕	ROS 2 pending
Stretch Demos	autodocking_behaviors	VisualServoing	✓	✕	ROS 2 pending
Stretch Demos	API docs	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch Nav2	offline_mapping	SLAM	✓	✓
Stretch Nav2	navigation	Pose, Waypoints, Obstacle avoidance	✓	✓
Stretch Nav2	Patrolling Demo	Python API, Autonomous waypoint nav	✓	✓
Stretch Nav2	API Docs	Instructions	✕	✕	ROS 1 and ROS 2 pending
Stretch MoveIt 2	MoveIt Config Files	YAML/XML/SRDF/URDF files	✕	✓
Stretch MoveIt 2	moveit	RViz plugin	✕	✓
Stretch MoveIt 2	moveit_py	Joint Space Goals	✕	✓	In review
Stretch MoveIt 2	moveit_py	Pose Goals	✕	✕	ROS 2 pending
Stretch MoveIt 2	moveit_py	Multiplanning pipeline	✕	✓	In review
Stretch MoveIt 2	moveit_py	Octomap plugin	✕	✓	In review
Stretch MoveIt 2	moveit	End effector pose goals	✕	✕	ROS 2 pending
Stretch MoveIt 2	moveit	Hybrid planning	✕	✕	ROS 2 pending
Web-based Teleoperation	web_interface	operator	✓	✕	ROS 2 pending
Web-based Teleoperation	web_interface	robot	✓	✕	ROS 2 pending