ubr_reloaded repository

ubr_reloaded repository

ubr_reloaded repository

Repository Summary

Checkout URI https://github.com/mikeferguson/ubr_reloaded.git
VCS Type git
VCS Version ros2
Last Updated 2024-12-15
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
ubr1_bringup 0.3.0
ubr1_calibration 0.3.0
ubr1_demo 0.3.0
ubr1_description 0.3.0
ubr1_gazebo 0.3.0
ubr1_moveit 0.3.0
ubr1_navigation 0.3.0
ubr_msgs 0.3.0
ubr_teleop 0.3.0

README

UBR-1 Reloaded

This is a fork of the ubr1_preview repo, updated to work with an actual robot on newer versions of ROS.

The closest thing to documentation would be to read the posts about the UBR-1 on my blog

There are some specific notes on calibration (using robot_calibration) in the ubr1_calibration README

Launch Files

ubr1_bringup/robot.launch.py

This launches the full robot with drivers and teleoperation. Usually done as part of a system service installed via ansible.

ubr1_navigation/build_map.launch.py

Used to build a map with slam_toolbox. Can not be run at the same time as localization.launch.py.

ubr1_navigation/localization.launch.py

Launches amcl node, configured for UBR-1.

ubr1_navigation/navigation.launch.py

Launches the navigation stack. Requires localization.launch.py to also be running.

ubr1_moveit/move_group.launch.py

Launches MoveIt2 move_group, with the MoveIt Task Constructor.

ubr1_demo/simple_grasping.launch.py

Launches simple grasping’s basic_grasping_perception node, properly configured for the UBR-1 gripper.

ubr1_demo/pick_place.launch.py

Launches the pick and place demo using MTC.

CONTRIBUTING

No CONTRIBUTING.md found.

ubr_reloaded repository

ubr_reloaded repository

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