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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]
  11. [ROS testing]
  12. [Other Nav Stack Features]
  13. [FollowJoint Trajectory Commands]
  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. 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.