> For the complete documentation index, see [llms.txt](https://docs.hello-robot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.hello-robot.com/stretch4-ros2-repo/readme.md).

# README

### Overview

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](https://github.com/hello-robot/stretch_ros2).

### Packages

| Resource                                                                | Description                                                                                         |
| ----------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------- |
| [stretch\_core](/stretch4-ros2-repo/stretch_core.md)                    | ROS 2 drivers for Stretch 4                                                                         |
| [stretch\_description](/stretch4-ros2-repo/stretch_description.md)      | Visualize Stretch 4's URDF                                                                          |
| [stretch\_nav2](/stretch4-ros2-repo/stretch_nav2.md)                    | Navigation stack built on Nav2                                                                      |
| [stretch\_simulation](/stretch4-ros2-repo/stretch_simulation.md)        | Simulation of Stretch 4, built on [Stretch4 Mujoco](https://github.com/hello-robot/stretch4_mujoco) |
| [stretch\_python\_bridge](/stretch4-ros2-repo/stretch_python_bridge.md) | A high-level Python API that abstracts away rclpy                                                   |
| [hello\_helpers](/stretch4-ros2-repo/hello_helpers.md)                  | Miscellaneous helper code used across the stretch\_ros2 repository                                  |

### Licenses

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](http://www.apache.org/licenses/LICENSE-2.0)                              |
| stretch\_description    | [BSD 3-Clause Clear License](https://choosealicense.com/licenses/bsd-3-clause-clear/) |
| stretch\_nav2           | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)                              |
| stretch\_simulation     | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)                              |
| stretch\_python\_bridge | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)                              |
| hello\_helpers          | [Apache 2.0](http://www.apache.org/licenses/LICENSE-2.0)                              |


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