ROS Index
|
ubr_reloaded repositoryrobotics ros ros2 ubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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.