BZ1 Bringup
===========

.. image:: media/gifs/bz1_viz.gif
   :width: 100%
   :align: center

This is a ros package that launches the BZ1 Base driver.

.. code:: bash
   
   roslaunch bz1_bringup bringup.launch

BZ1 Description
===============

This is a ros package that contains the 3D models of the BZ1. Additionally, the seperate 3D models are stitched together into a single 
entity via the universal robot description format (URDF). Additions
to the robot's 3D model can be made in the ``xacro/robot.urdf.xacro``. 
To view the robot with simulated dummy drivers. You can run:


The description is automatically launched with the BZ1 Gripper Moveit Config driver to show the perceived position of the legs with the robot.

.. code:: bash
   
   roslaunch bz1_description description.launch

BZ1 Gripper Moveit
==================

This ros package contains the moveit setup configured for the B1, Z1 enabling collision avoidance with the base.

.. code:: bash

   roslaunch bz1_gripper_moveit_config real_bz1_moveit.launch 

BZ1 Viz
=======

This ros package is used for visualization of the robots current state both in simulation and in the real-hardware.

.. code:: bash

   roslaunch bz1_viz view_robot.launch