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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.