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.

Packages

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

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
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