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README.md

Introduction

This repo provides instructions on the installation and use of code on the Stretch RE1 robot. The goal is to provide a user familiar with ROS with the tools to operate a Stretch robot in simulation and the actual 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. [Perception]
  9. [Microphone Array]
  10. [FUNMAP]

Other ROS Examples

  1. Teleoperate Stretch with a Node - Use a python script that sends velocity commands.
  2. Mobile Base Collision Avoidance - Stop stretch from running into a wall.
  3. Give Stretch a Balloon - Create a "balloon" marker that goes where ever it goes.