## repository: git://github.com/ipa320/cob_driver
<<PackageHeader(cob_arm)>>
<<TOC(4)>>

== 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.

## AUTOGENERATED DON'T DELETE
## CategoryPackage