This robot is based on a modified Bioloid platform with various sensors, control via a Raspberry Pi 2 and integration it with the ROS platform and MoveIt! Also includes a Qt GUI for PC, Python GUI for the Pi and some a basic import into Gazebo.
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Thanks for following #City Air Quality . You can find more about this project here: https://www.youtube.com/watch?v=qNefYH_Hs5k . Also the hardware is already available and you can purchase it on Tindie to support this entire work, just search for "uRADMonitor"