ROS Index
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged stretch_simulation at Robotics Stack Exchange
|
|
stretch_simulation package from stretch_ros2 repohello_helpers stretch_calibration stretch_core stretch_deep_perception stretch_demos stretch_description stretch_funmap stretch_nav2 stretch_octomap stretch_rtabmap stretch_simulation |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_PYTHON |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc. |
| Checkout URI | https://github.com/hello-robot/stretch_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-06-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Hello Robot Inc.
Authors
Stretch Simulation in ROS2
Use this package to use ROS2 with Stretch in Mujoco.
System Requirements
It is recommended to run this package on an Ubuntu 22.04 workstation with an Nvidia graphics card or a WSL2 environment with GPU acceleration.
Minimum: 16GB of RAM. Recommended: 32GB of RAM.
This package is not supported on Metal (MacOS) at this time due to the lack of GPU acceleration and OpenGL 1.5+ support in Docker, and slow performance in UTM with a virtual machine.
Nav2
First go through the Getting Started guide to set up your environment.
Mapping
This section is similar to https://docs.hello-robot.com/0.3/ros2/navigation_stack/#mapping, but uses the Stretch simulation environment.
To map the simulated environment, run the following:
# Terminal 1: Slam Toolbox
ros2 launch stretch_nav2 online_async_launch.py use_sim_time:=true
# Optional: Navigation bringup:
ros2 launch stretch_nav2 navigation.launch.py use_slam:=true use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 2: Stretch Mujoco Driver
export MUJOCO_GL=egl # On Ubuntu, tell Mujoco to use the GPU
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation
# Terminal 3: Keyboard Teleop
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/stretch/cmd_vel
To save your map, run:
mkdir ${HELLO_FLEET_PATH}/maps
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
Navigation
To run navigation on a previously generated map, run:
# Terminal 1: Stretch Mujoco Driver
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true use_rviz:=false mode:=navigation
# Terminal 2: Navigation
ros2 service call /switch_to_navigation_mode std_srvs/srv/Trigger
ros2 launch stretch_nav2 navigation.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
You may want to dynamically reduce the cost_map inflation radius for most Robocasa environments:
ros2 param get /global_costmap/global_costmap inflation_layer.inflation_radius
ros2 param get /local_costmap/local_costmap inflation_layer.inflation_radius
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Pre-mapped scene
There are maps included in this package that you can use with navigation out of the box.
Launch the pre-mapped environment using the following commands:
# Terminal 1
ros2 launch stretch_simulation stretch_mujoco_driver.launch.py use_mujoco_viewer:=true mode:=navigation robocasa_layout:='G-shaped' robocasa_style:=Modern_1
# Terminal 2
ros2 launch stretch_nav2 navigation.launch.py map:=~/ament_ws/src/stretch_ros2/stretch_simulation/maps/gshaped_modern1_robocasa.yaml use_sim_time:=true use_rviz:=true teleop_type:=none
# Terminal 3
ros2 service call /stow_the_robot std_srvs/srv/Trigger
ros2 param set /global_costmap/global_costmap inflation_layer.inflation_radius 0.20
ros2 param set /local_costmap/local_costmap inflation_layer.inflation_radius 0.20
Web Teleop
You can use Stretch Web Teleop with the Stretch Simulation environment!
Before you start, install the dependencies for Stretch Web Teleop by following these instructions.
Use the following commands to start Stretch Mujoco with Web Teleop:
```bash parallel_terminal=”gnome-terminal –tab – /bin/bash -c “ # or “xterm -e”
Terminal 1
File truncated at 100 lines see the full file