This repository holds ROS 2 Jazzy packages for the Stretch 4 mobile manipulator from Hello Robot Inc. On a fresh robot, these packages are built and available through the ~/ament_ws workspace.
Stretch 4 ROS packages contain breaking changes from Stretch 3 and earlier hardware versions. ROS packages for earlier versions can be found in stretch_ros2.
| Resource | Description |
|---|---|
| stretch_core | ROS 2 drivers for Stretch 4 |
| stretch_description | Visualize Stretch 4's URDF |
| stretch_nav2 | Navigation stack built on Nav2 |
| stretch_simulation | Simulation of Stretch 4, built on Stretch4 Mujoco |
| stretch_python_bridge | A high-level Python API that abstracts away rclpy |
| hello_helpers | Miscellaneous helper code used across the stretch_ros2 repository |
For license details for this repository, see the LICENSE files found in the directories. A summary of the licenses follows:
| Directory | License |
|---|---|
| stretch_core | Apache 2.0 |
| stretch_description | BSD 3-Clause Clear License |
| stretch_nav2 | Apache 2.0 |
| stretch_simulation | Apache 2.0 |
| stretch_python_bridge | Apache 2.0 |
| hello_helpers | Apache 2.0 |