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Getting Started

This repository holds ROS Noetic packages for the Stretch mobile manipulators from Hello Robot Inc. To get started with this code, take a look at the Stretch ROS Tutorials.

Directories

Resource Description
hello_helpers Miscellaneous helper code used across the stretch_ros repository
stretch_calibration Creates and updates calibrated URDFs for Stretch
stretch_core Drivers to use Stretch from ROS
stretch_dashboard Dashboard showing health and diagnostic stats about Stretch
stretch_deep_perception Demonstrations that use open deep learning models to perceive the world
stretch_demos Demonstrations of simple autonomous manipulation
stretch_description Generate and export URDFs
stretch_funmap Demonstrations of Fast Unified Navigation, Manipulation And Planning (FUNMAP)
stretch_gazebo Support for simulation of Stretch in the Gazebo simulator
stretch_navigation Support for the ROS navigation stack, including move_base, gmapping, and AMCL
stretch_octomap Support for mapping using OctoMap: efficient probabilistic 3D Mapping based on Octrees
stretch_rtabmap Support for mapping using Real-Time Appearance-Based Mapping (RTAB-Map)

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
hello_helpers Apache 2.0
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_gazebo Apache 2.0
stretch_moveit_config Apache 2.0
stretch_navigation Apache 2.0
stretch_octomap Apache 2.0
stretch_rtabmap Apache 2.0