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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.