ROS Software Maintainer: Fraunhofer IPA
Contents
Care-O-bot Family
Care-O-bot 4
See http://wiki.ros.org/Robots/cob4
Care-O-bot 3
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 |
|
Robot model (URDF) |
|
Machine configuration |
Hardware Drivers - Care-O-bot4
Component |
ROS package/stack |
Mobile Base |
|
Sick S300 sensors |
|
Battery management |
|
LEDs |
|
Torso Axis |
|
Asus Xtion |
|
Realsense |
|
Head Axis |
|
Sensorring Axis |
High-Level Capabilities
Component |
ROS package/stack |
Teleop |
|
Mimic |
|
Sound |
|
Navigation |
|
Arm motion planning |
|
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:
ROBOT, this variable is used to define which configuration of Care-O-bot or rob@work you are going to use (see full list of robots on the distribution site). Currently you can set it to:
cob4-1: Care-O-bot 4 with fully actuated torso and head
cob4-2: Care-O-bot 4 with fixed torso and head
raw3-1: Rob@work 3 (Long Base) with a Universal Robot arm and 1 Schunk PW torso
raw3-3: Rob@work 3 (Short Base) without manipulator
ROBOT_ENV, this variable is used to define in which environment you are going to use the robot. Currently you can set it to:
empty: Empty environment
ipa-apartment: Apartment environment at Fraunhofer IPA
ipa-kitchen: Former kitchen environment at Fraunhofer IPA
ipa-office: Office environment at Fraunhofer IPA
ipa-production-plant: Virtual production plant test environment
automotive-assembly-line: Virtual automotive factory test environment
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.
Related Repositories
Please find a list of all Care-O-bot related repositories on github.
