# Software drop - February 28, 2025 **URL:** https://forum.hello-robot.com/t/software-drop-february-28-2025/1248 **Category:** Announce **Created:** [February 28, 2025, 7:50pm UTC](https://forum.hello-robot.com/t/software-drop-february-28-2025/1248 "2025-02-28T19:50:39Z") **Posts on this page:** 1 **Page:** 1
### 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: [February 28, 2025, 7:50pm UTC](https://forum.hello-robot.com/t/software-drop-february-28-2025/1248/1 "2025-02-28T19:50:39Z")
Hey all, Here’s a quick round-up of some of the new software that’s been released for Stretch these past few weeks. ## New tutorial for developing on web interface If you’re interested in learning how write frontend React components that can call into ROS2 APIs, I’ve written a new tutorial called [Developing on the Web Interface](https://github.com/hello-robot/stretch_web_teleop/blob/master/documentation/development.md). The web interface is sophisticated web app that enables user to call and teleoperate their Stretch robot over the internet. I hope this tutorial makes it easier to approach adding new features to or forking the [Stretch Web Teleop codebase](https://github.com/hello-robot/stretch_web_teleop). ## Fix for Dex Teleop’s fast mode [Dex Teleop’s](https://github.com/hello-robot/stretch_dex_teleop) “fast mode” enables the robot to move quicker while tracking your demonstations. A poorly tuned current limit on the lift joint caused stuttering/jerky motion from the robot. This makes collecting demonstrations quite difficult. [The](https://github.com/hello-robot/stretch_dex_teleop/pull/11) [fix](https://github.com/hello-robot/stretch_dex_teleop/pull/12) is now merged mainline, so simply `git pull` in the folder to get it. ## Make it easier to install Stretch AI Peiqi has made it easier to install Stretch AI and its Dynamem module in his [fix here](https://github.com/hello-robot/stretch_ai/pull/251). This has been merged mainline, so simply follow the [installation instructions](https://github.com/hello-robot/stretch_ai/blob/main/docs/start_with_docker_plus_virtenv.md) to get started! ## Fix for mapping with Nav2 Using the gamepad controller with Nav2 to create a map previously involved the `teleop_twist` node. The UX of the controller from this node was just okay. Recently, we’ve introduced an “gamepad” mode in Stretch ROS2, which has the same UX as `stretch_gamepad_teleop.py` (the same gamepad teleop from the [Getting Started](https://docs.hello-robot.com/0.3/getting_started/hello_robot/) tutorial). In [this fix](https://github.com/hello-robot/stretch_ros2/pull/165), we switch Nav2 to use “gamepad” mode. [Update your ROS workspace](https://docs.hello-robot.com/0.3/installation/ros_workspace/) to get it! ## Make it easier to start/stop web teleop The web interface is launched through scripts called `launch_interface.sh` and `stop_interface.sh`. Internally, they use [screen](https://linuxize.com/post/how-to-use-linux-screen/) to manage the backend. While this provides reliability, it makes it harder to debug issues because the logs are not saved. Improvements to these scripts have merged [in this PR](https://github.com/hello-robot/stretch_web_teleop/pull/116) and instructions on collecting debug logs is now available in the [troubleshooting section here](https://github.com/hello-robot/stretch_web_teleop?tab=readme-ov-file#collecting-logs). ## Two fixes for Stretch’s Python library Two small fixes for Stretch Body. See each PR for details: - [Check calibration directory exists by hello-binit · Pull Request #360 · hello-robot/stretch\_body · GitHub](https://github.com/hello-robot/stretch_body/pull/360) - [Fix for reject waypoint trajectories mismatch joints by hello-binit · Pull Request #361 · hello-robot/stretch\_body · GitHub](https://github.com/hello-robot/stretch_body/pull/361) Get the fixes by [updating your Python libraries](https://docs.hello-robot.com/0.3/software/updating_software/#python-libraries). ## Many small fixes for Stretch’s ROS2 packages See each PR for details: - [Default to uncalibrated urdf / params by hello-binit · Pull Request #186 · hello-robot/stretch\_ros2 · GitHub](https://github.com/hello-robot/stretch_ros2/pull/186) - [Added colcon and vscode generated files to .gitignore by hello-robot-shehab · Pull Request #185 · hello-robot/stretch\_ros2 · GitHub](https://github.com/hello-robot/stretch_ros2/pull/185) - [Remove Unused Teleop Type Param in Mapping Launches by hello-vinitha · Pull Request #183 · hello-robot/stretch\_ros2 · GitHub](https://github.com/hello-robot/stretch_ros2/pull/183) - [Make it easy to run stretch\_driver separately by hello-binit · Pull Request #182 · hello-robot/stretch\_ros2 · GitHub](https://github.com/hello-robot/stretch_ros2/pull/182) Get the fixes by [updating your ROS workspace](https://docs.hello-robot.com/0.3/installation/ros_workspace/).