stretch_core

Overview

stretch_core provides the core ROS interfaces to the Stretch RE1 mobile manipulator from Hello Robot Inc. It includes the following nodes:

stretch_driver : node that communicates with the low-level Python library (stretch_body) to interface with the Stretch RE1

detect_aruco_markers : node that detects and estimates the pose of ArUco markers, including the markers on the robot's body

d435i_* : various nodes to help use the Stretch RE1's 3D camera

keyboard_teleop : node that provides a keyboard interface to control the robot's joints

For license information, please see the LICENSE files.