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stretch_moveit2 configures MoveIt2 for Stretch RE1. The MoveIt Motion Planning Framework makes whole body planning, manipulation, 3D perception, control/navigation, and more available on Stretch.

Drag & Drop Rviz Planning

Demo with Simulated Robot

To experiment with the planning capabilities of MoveIt2 on Stretch, you can run a demo without Stretch hardware. The fake robot will be backed by ros2_control controllers that provide MoveIt2 with the action server required for planning, however, the 'execution' button in Rviz will not be able to execute plans that include mobile base motion.

ros2 launch stretch_moveit_config

This will allow you to move the robot around using interactive markers and create plans between poses.

Hardware Integration



For license information, please see the LICENSE files.