Care-O-bot 3

ROS Software Maintainer: Fraunhofer IPA

The Care-O-bot is a mobile manipulation platform built by Fraunhofer IPA. The software running on Care-O-bot supports ROS for the driver level as well as for higher level applications. Robots Using ROS: Care-O-bot 3 (Fraunhofer IPA)

You can find information about the distribution and configuration of Care-O-bot 3 at the distribution site.

Contents

Care-O-bot 3

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)

Unstable Release (new features, mostly tested)

Unstable

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

Component	ROS package/stack
Robot-specific Messages	cob_msgs
Robot-specific Services	cob_srvs
Robot model (URDF)	cob_description
Machine configuration	cob_machine

Hardware Drivers and Simulation

Component	ROS package/stack
Actuator Drivers	cob_driver
Sensor Drivers	cob_driver
Simulation (3D)	cob_simulation, cob_gazebo

High-Level Capabilities

Component	ROS package/stack
Teleop	cob_teleop
Navigation	cob_2dnav, cob_2dslam
Arm motion planning	cob_arm_navigation
Manipulation	TBD
Perception	TBD

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 you are going to use. Currently you can set it to:
- cob3-1: Care-O-bot with Kuka LBR Arm and 2 Schunk PW torso
- cob3-2: Care-O-bot with Schunk LWA Arm and 2 Schunk PW torso
- cob3-3: Care-O-bot with Kuka LBR Arm and 3 Schunk PRL torso
- cob3-4: Care-O-bot with Kuka LBR Arm and 3 Schunk PRL torso
ROBOT_ENV, this variable is used to define in which environment you are going to use the robot. Currently you can set it to:
- ipa-kitchen: Kitchen enviroment at Fraunhofer IPA

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

Have a look at the cob_bringup package to bringup a real Care-O-bot.

Tutorials

Please see the official Care-O-bot tutorials.

Support

Please use the Care-O-bot mailing lists.

Wiki

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