Have you selected a robot arm from a vendor other than Universal Robots, or are you planning a dual-arm setup? This package is the essential addition to the ROS 2 Mobile Base Starter, allowing us to tailor our ROS 2 packages to your specific hardware so you can control your custom manipulators straight out of the box.

• Custom Simulation Support: Full integration of your specific arm configuration into Modern Gazebo, ensuring a complete digital twin even for non-standard hardware setups.
• MoveIt 2 Configuration: Complete MoveIt 2 setup tailored to your specific mobile manipulator customization.
• Package Setup: Downloading and testing of all the necessary packages for the robot arms and the open-source Neobotix MoveIt packages for mobile manipulators.
• Optimization: Adapting and testing of the ROS parameters and launch arguments for the UR from our bringup, allowing you to control the robot arms straight out of the box.
• Commissioning: Full commissioning of your UR robots, which includes:
  1. Update the arm configuration(if needed) to support seamless communication between the robot arm and the on-board PC.
• Exclusive Examples: Exclusive access to source code and examples of controlling your robot arm with the MoveIt C++ API, including (does not include dual arm):
  1. Point-to-Point motion.
  2. Moving the robot arm through Cartesian waypoints