Introduction

This repo provides instructions on installing and using code on the Stretch RE1 robot. The goal is to provide a user familiar with ROS with the tools to operate a Stretch robot.

Stretch ROS Tutorials

1. Getting Started
2. Gazebo Basics
3. Teleoperating Stretch
4. Internal State of Stretch
5. RViz Basics
6. Navigation Stack
7. MoveIt! Basics
8. Follow Joint Trajectory Commands
9. FUNMAP
10. Microphone Array
11. ROS testing
12. Other Nav Stack Features
13. Perception
14. 4 Modes of Stretch

Other ROS Examples

To help get you get started on your software development, here are examples of nodes to have the stretch perform simple tasks.

1. Teleoperate Stretch with a Node - Use a python script that sends velocity commands.
2. Filter Laser Scans - Publish new scan ranges that are directly in front of Stretch.
3. Mobile Base Collision Avoidance - Stop Stretch from running into a wall.
4. Give Stretch a Balloon - Create a "balloon" marker that goes where ever Stretch goes.
5. Get Joint States - Get joint states of Stretch.