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
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)
Version Control (brand new features, but not tested)
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 |
|
Robot-specific Services |
|
Robot model (URDF) |
|
Machine configuration |
Hardware Drivers and Simulation
Component |
ROS package/stack |
Actuator Drivers |
|
Sensor Drivers |
|
Simulation (3D) |
High-Level Capabilities
Component |
ROS package/stack |
Teleop |
|
Navigation |
|
Arm motion planning |
|
Manipulation |
|
Perception |
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.






