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Contents
Urdf versions
This package contains the description of the components of Care-O-bot robots, inside the folder urdf you can find different models and versions, the following table explain the distribution:
Torso
Version number |
description |
used in robot |
torso_v0 |
Torso with 2 PW (2 pan links and 2 tilt links) |
cob3-1 and cob3-2 |
torso_v1 |
Torso with 3PRL (1 pan link and 2 tilt links) |
cob3-3 and cob3-4 |
Head
Version number |
description |
used in robot |
head_v1 |
Head with 2 AVT Pike C145 and Kinect |
cob3-1 |
head_v2 |
Head with AVT Prosilica GigE and Mesa Swissranger |
cob3-2 |
head_v3 |
Head with 2 AVT Prosilica GigE and Kinect |
cob3-3 and cob3-4 |
In the package cob_hardware_config you can find for each robot the urdf file that load the component descriptions together.