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YP-Spur is a mobile robot motion control software with coordinate frame based commands. Binary download for Windows is available on https://openspur.org/ypspur_downloads.php
ROS wrapper for YP-Spur.
ypspur_ros release repository for ROS bloom
YP-Spur release repository for ROS bloom
GUI frontend for YP-Spur
B-Loco motor controller board firmware for YP-Spur. (B-Loco has been almost obsolete.)