Hardware Requirements

This package configures the cob_powercube_chain to use two pan tilt units for the Care-O-bot torso. 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 4 DOF.

Usage/Examples

For starting only the torso use

roslaunch cob_torso solo.launch

For including the torso in your overall launch file use

<include file="$(find cob_torso)/ros/launch/torso.launch" />

A sample parameter file could look like this

can_module: PCAN
can_device: /dev/pcan0
can_baudrate: 500
module_ids: [14,13,16,15]
joint_names: [torso_lower_neck_pan_joint, torso_lower_neck_tilt_joint, torso_upper_neck_pan_joint, torso_upper_neck_tilt_joint]
max_accelerations: [0.8,0.8,0.8,0.8]
OperationMode: position

For moving the torso start the cob_dashboard

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.