Launch files to configure and startup the Care-O-bot torso based on the cob_powercube_chain.
This package doesn't have a own ROS API, it just configures the cob_powercube_chain with 4 DOF.
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.