Stretch Gazebo Simulation for Melodic and Noetic

We are excited to announce Gazebo simulation support for Stretch in collaboration between PickNik Robotics and Hello Robot!

The simulation is tested both on ROS Melodic and Noetic distros and currently includes:

  • A driveable base with cmd_vel commands using diff_drive_controller
  • LIDAR, IMU, Accelerometer and Realsense sensors up and ready to use
  • Controllable head, gripper, arm and lift joints using joint_trajectory_controller
  • Quickstart demo with MoveIt!

See stretch_ros/stretch_gazebo at master · hello-robot/stretch_ros · GitHub for a detailed overview of Stretch Simulation. Please report any issues using the simulation on Github or here on the forum.