ROS Software Maintainer: Fraunhofer IPA

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)

• Indigo

• Hydro

• Groovy

• Fuerte

• Electric

• Diamondback

• C Turtle

Version Control (brand new features, but not tested)

• From git sources

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

Hardware Drivers - Care-O-bot4

High-Level Capabilities

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.