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hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
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MoveIT not executing plan on real stretch robot #60

Closed shivani0812 closed 2 years ago

shivani0812 commented 2 years ago

I am running MoveIt1 on the stretch robot but it is not able to execute the plan on the actual robot.

hello-binit commented 2 years ago

Hello @shivani0812, there is no support for running MoveIt1 on Stretch, as noted in the package's README. Instead, we are developing support for MoveIt2 on the actual robot. More details are available in this forum post.

praveenVnktsh commented 1 year ago

hey @hello-binit , just wanted to know if this is fixed, or if there is any workaround to getting moveit working with stretch re1.

hello-binit commented 1 year ago

Hi @praveenVnktsh, we won't be supporting MoveIt1 since the algorithms for diff drive mobile base planning aren't available. MoveIt2 is supported on both Stretch RE1 and RE2. If you haven't already, you can upgrade your Stretch RE1 to Ubuntu 20.04 and start using ROS2 and MoveIt2, which is capable of full body planning for Stretch.