Remember Husky? It is a robotic development platform with large payload capacity and ability to handle stereo cameras, LIDAR, GPS, IMUs, and manipulators for complex research projects. It is fully supported in ROS.
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Husky UGV Integration with UR5 arm & 3-finger Gripper
This video gives you an idea how Husky can be upgraded with a universal robotic arm and 3-finger gripper. More info is available here.
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