This is a ros package that launches the BZ1 Base driver.
roslaunch bz1_bringup bringup.launch
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
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.
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.
roslaunch bz1_gripper_moveit_config real_bz1_moveit.launch
This ros package is used for visualization of the robots current state both in simulation and in the real-hardware.
roslaunch bz1_viz view_robot.launch