# Automatically grabbing objects with Stretch3

**URL:** https://forum.hello-robot.com/t/automatically-grabbing-objects-with-stretch3/1024
**Category:** Ask
**Created:** [June 28, 2024, 3:57am UTC](https://forum.hello-robot.com/t/automatically-grabbing-objects-with-stretch3/1024 "2024-06-28T03:57:08Z")
**Posts on this page:** 1
**Showing post:** 14

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### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [September 3, 2024, 8:11pm UTC](https://forum.hello-robot.com/t/automatically-grabbing-objects-with-stretch3/1024/14 "2024-09-03T20:11:32Z")

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Hi @lstegner, recently, the ROS2 driver has gotten a new [“streaming” mode](https://forum.hello-robot.com/t/software-drop-august-23-2024/1092#p-2837-streaming-mode-in-ros2-driver-2), which should make it much simpler to port the visual servoing code to ROS2. If you’re interested in this, I recommend reaching out to @cpaxton, since he has been experimenting with this new mode to run visual servoing code.

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