# Basic ROS code for the Stretch Robot

**URL:** https://forum.hello-robot.com/t/basic-ros-code-for-the-stretch-robot/143
**Category:** Discuss
**Created:** [April 1, 2021, 10:34pm UTC](https://forum.hello-robot.com/t/basic-ros-code-for-the-stretch-robot/143 "2021-04-01T22:34:56Z")
**Posts on this page:** 1
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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: [April 6, 2021, 9:47pm UTC](https://forum.hello-robot.com/t/basic-ros-code-for-the-stretch-robot/143/5 "2021-04-06T21:47:14Z")

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Great! I will follow up here when the first tutorial is available.

To list the ROS topics available, you may use the `rostopic` command line tool. For example, the commands could look like:

```auto
roslaunch stetch_core stretch_driver.launch
[in a separate terminal]
rostopic list

```

The `roslaunch` command line tool will launch the ROS master and StretchBodyNode node, while the `rostopic` command line tool will print out the active topics at the moment. You may find additional documentation on the [rostopic tool](http://wiki.ros.org/rostopic) on the ROS wiki.

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