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care-o-bot-research.jpg

ROS Software Maintainer: Fraunhofer IPA

Care-O-bot Family

Care-O-bot 4

Care-O-bot 4

See http://wiki.ros.org/Robots/cob4

Care-O-bot 3

Care-O-bot 4

See http://wiki.ros.org/Robots/cob3

Care-O-bot 3 is unsupported since indigo.

Installation

Setup your desktop machine

The recommended way for most of the users is to use the stable releases. Unstable should only be used if you need new features which aren't available in the stable releases. Directly downloading and installing the sources from git is only recommended for developers if you want to modify stacks.

Stable Releases (well tested)

Version Control (brand new features, but not tested)

Setup the robot machines (for robot administrators)

If you want to setup the installation on the robot, please have a look at the Care-O-bot Manual.

Capability Overview

Basic Configuration

Component

ROS package/stack

Robot-specific Messages

Robot-specific Services

cob_srvs

Robot model (URDF)

cob_description

Machine configuration

cob_bringup

Hardware Drivers - Care-O-bot4

Component

ROS package/stack

Mobile Base

ros_canopen

Sick S300 sensors

sick_flexisoft

Battery management

cob_bms

LEDs

cob_light

Torso Axis

ros_canopen

Asus Xtion

openni2_camera

Realsense

realsense_camera

Head Axis

ros_canopen

Sensorring Axis

ros_canopen

High-Level Capabilities

Component

ROS package/stack

Teleop

cob_teleop,cob_command_gui

Mimic

cob_mimic

Sound

cob_sound

Navigation

cob_navigation

Arm motion planning

cob_arm_navigation, cob_manipulator

Manipulation

cob_manipulation

Perception

cob_object_perception, cob_people_perception, cob_environment_perception

Running

Environment variables

By using the stacks you will be prompted to set two environment variables ROBOT and ROBOT_ENV:

Using Care-O-bot in simulation

Have a look at the cob_bringup_sim package to bringup Care-O-bot in simulation.

Using a real Care-O-bot

For starting bringup on a real Care-O-bot, please have a look at the Care-O-bot manual and the cob_bringup package.

Tutorials

Please see the official Care-O-bot tutorials.

Support

Please consult the Care-O-bot manual or visit ros answers to see if your problem is already solved.

Please use github issues to report bugs or request features. We are also happy to receive github pull requests. Please see our guidelines for opening issues and pull requests.

Please find a list of all Care-O-bot related repositories on github.


2018-12-08 12:28