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Getting Started

This repository holds ROS 2 Humble packages for the Stretch mobile manipulators from Hello Robot Inc. To get started with this code, take a look at the Stretch ROS 2 Tutorials. If your robot's operating system doesn't contain ROS 2 (details on distributions here), check out the Upgrading your Operating System guide.

Directories

Resource Description
stretch_calibration Creates calibrated URDFs for Stretch
stretch_core ROS 2 drivers for Stretch
stretch_deep_perception Demonstrations that use open deep learning models to perceive the world
stretch_demos Demonstrations of simple autonomous manipulation
stretch_description Description files for Stretch
stretch_funmap Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
stretch_nav2 Navigation stack Nav2, including slam_toolbox, AMCL and Simple Commander
stretch_octomap Mapping using OctoMap: efficient probabilistic 3D Mapping based on Octrees
stretch_rtabmap Navigation & Mapping using Real-Time Appearance-Based Mapping (RTAB-Map)
hello_helpers Miscellaneous helper code used across the stretch_ros2 repository

Licenses

This software is intended for use with the Stretch mobile manipulators, which are robots produced and sold by Hello Robot Inc. For further information, including inquiries about dual licensing, please contact Hello Robot Inc.

For license details for this repository, see the LICENSE files found in the directories. A summary of the licenses follows:

Directory License
stretch_calibration GPLv3
stretch_core Apache 2.0
stretch_deep_perception Apache 2.0
stretch_demos Apache 2.0
stretch_description BSD 3-Clause Clear License
stretch_funmap LGPLv3
stretch_nav2 Apache 2.0
stretch_octomap Apache 2.0
stretch_rtabmap Apache 2.0
hello_helpers Apache 2.0