Hardware Requirements

This package configures the cob_powercube_chain to use seven powercubes for the Care-O-bot arm. Alternatively you can use a simulated version without any hardware, see cob_gazebo.

ROS API

This package doesn't have a own ROS API, it just configures the cob_powercube_chain with 7 DOF.

Usage/Examples

For starting only the arm use

roslaunch cob_arm solo.launch

For including the arm in your overall launch file use

<include file="$(find cob_arm)/ros/launch/arm.launch" />

A sample parameter file could look like this

can_module: PCAN
can_device: /dev/pcan0
can_baudrate: 1000
module_ids: [4,5,6,7,8,9,10]
joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint]
max_accelerations: [0.8,0.8,0.8,0.8,0.8,0.8,0.8]
OperationMode: position

For moving the arm start the cob_dashboard

export ROBOT=cob3-2
roslaunch cob_dashboard dashboard.launch

Press the "init" button to call the init service for connecting to the hardware. Afterwards use the buttons to move to predefined positions.