The clober_serial package

The clober_simulation package

This package includes launch files for slam

The meta package for Clober Teleoperator

The clober_tools package

ROS driver for CANLAB CLPE-G-NVP2650D

Messages used by clpe_ros

A common repository for CMake Modules which are not distributed with CMake but are commonly used by ROS packages.

The cmd_vel_smoother package

Node for fast color blob detection

library to read/write .npy and .npz files in C/C++

Message, service and action definitions for environment perception.

This Package contains Care-O-bot specific action definitions.

cob_android package provides tools for android apps operation.

cob_android_msgs

cob_android_resource_server

cob_android_script_server

cob_android_settings

The cob_base_controller_utils package contains common utils for various base_controllers.

This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information.

The 'cob_base_velocity_smoother' reads velocity messages and publishes messages of the same type for "smoothed" velocity to avoid shaking behavior.

Driver package for interfacing the battery management system (BMS) on Care-O-bot.

This package provides launch files for operating Care-O-bot.

This package provides launch files for starting a simulated Care-O-bot.

This repository holds the current calibration data for Care-O-bot.

cob_cam3d_throttle: only for Trottel

The package cob_canopen_motor implements a controller-drive component which is connected to a can-bus and works with a canopen-interface. "CanDriveItf" provides a - more or less - generic interface to the controller-drive components. "CanDrvie..." then implements a specific setup, e.g. an ELMO Harmonica Controller in case of the "CanDriveHarmonica".

This package provides nodes that broadcast tf-frames along various (model-based) Cartesian paths (e.g. Linear, Circular). The tf-frames are interpolated using a given velocity profile (e.g. Ramp, Sinoid) and can be used as targets for the cob_frame_tracker/cob_twist_controller.

The collision monitor uses the planning scene monitor to read the state of the robot and check it for collision with itselt or the environment. It addition a ground plane is added in any case. Can be used as a stand-aloan node or a move_group capability.

The cob_collision_velocity_filter package is a package for collision avoidance using teleoperation.

This package provides a simple GUI for operating Care-O-bot.

The cob_command_tools stack provides tools, for operating Care-O-bot.

The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot is located in this stack.

cob_control meta-package

The cob_control_mode_adapter package provides a node that automatically loads respective ros_controllers depending on required control mode.

Common messages and services used in various packages within cob_control.

cob_dashboard is a modified version of [[pr2_dashboard]].

This package contains configuration files for the default environments for Care-O-bot supported by IPA.

The cob_default_robot_behavior package provides helper scripts for standard robot behaviors.

Default configuration of the different robots supported by the Care-O-bot stacks. Configuration is e.g. preconfigured joint positions.

This package contains the description (mechanical, kinematic, visual, etc.) of the Care-O-bot robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

Autonomous docking

The cob_driver stack includes packages that provide access to the Care-O-bot hardware through ROS messages, services and actions. E.g. for mobile base, arm, camera sensors, laser scanners, etc...

This packagae implements the special homing procedure that is needed for old cob4/raw bases

This stack holds packages for IPA default environment configuration.

The cob_extern stack contains third party libraries needed for operating Care-O-bot. The packages are downloaded from the manufactorers website and not changed in any way.

Fiducial recognition. Implementation of different 2D tags like PI-tag from Bergamasco et al. for recognition with a single 2D camera.

The cob_footprint_observer package adjusts the footprint of the robot based on the setup (e.g. arm and/or tray).

The cob_frame_tracker package contains nodes that publish Twist commands based on the distance to the desired tf frame target.

Launch files and tools for 3D simulation of Care-O-bot in gazebo simulator.

This package provides some objects and furniture for gazebo simulation.

Additional gazebo plugins used with Care-O-bot

This package contains a specialization of the gazebo_ros_control plugin. The cob_gazebo_ros_control plugin allows Multi-HardwareInterface-Support.

The cob_gazebo_tools package provides helper tools for the gazebo simulation

This package provides some worlds for gazebo simulation.

The package cob_generic_can provides an interface for nodes on a can-bus and examplary wrappers for two PeakSys-can-libs. When a can-bus-device is generated (for an example see base_dirve_chain) you can use generic_can to create as many itfs as there will be components communicating via this can-bus. Assign type of the can communication device (e.g. usb-to-can or can-card of a specific vendor) and can-address of the target device. This package comes with wrappers for PeakSys and PeakSysUSB adapters.

Grasp generation for Care-O-bot based on OpenRAVE

The cob_hand stack includes packages that provide access to the Care-O-bot hand through ROS serial.

The cob_hand_bridge package provides a driver for the gripper of Care-O-bot4.

This package contains configuration for each robot instance (e.g. cob4-X, raw3-X). There is a directory for each robot with configuration about urdf and hardware/device configurations.

The cob_hardware_emulation package provides idealized nodes emulating real robot hardware and/or physics simulation.

Helper scripts for Care-O-bot

Flips the image of Care-O-bots kinect in dependence of the viewing direction of the cameras to receive an upright image all the time.

This package contains scripts to operate the LED lights on Care-O-bot.

cob_linear_nav provides a simple navigation instrument driving on a linear path from current position to goal without any planning or obstacle avoidance capabilites. Obstacle avoidance should be carried out in other package, e.g.

cob_lookat_action

The cob_manipulation stack includes packages that provide manipulation capabilities for Care-O-bot.

Messages for cob_manipulation

cob_map_accessibility_analysis receives the map from navigation as well as obstacles and inflates_obstacles topics to assemble a common obstacle map. Upon request, this node checks the accessibility of poses within thin map by (i) checking whether the pose itself is free and by (ii) checking whether there is a closed path from robot to the goal pose.

cob_mapping_slam holds launch files for running SLAM using the

The cob_mecanum_controller_node provides a lightweight base controller for mecanum drive robots. The out/input for the wheel command/state are wheel velocities in rad/s for the wheels [front left, front right, rear left, rear right]

This package implements the Care-O-bot mimic

The cob_model_identifier package provides nodes to analyse the system response behavior of actuators to optimally tune PID controllers to be used with cob_twist_controller framework.

cob_monitoring

MoveIt launch files

MoveIt config files for all cob and raw

cob_moveit_interface

Messages for representing state information, such as battery information and emergency stop status.

The cob_navigation stack provides different navigation packages for

This package holds common configuration files for running the

This package holds config and launch files for running the

This package holds config and launch files for running the

This package provides launch files for running

This package contains message type definitions for object detection

The cob_object_detection_visualizer package visualizes the object detection result.

The cob_obstacle_distance package calculates distances between both robot links and obstacles to be used for obstacle avoidance within cob_twist_controller framework.

This package provides nodes for calculating the minimal distance to robot links, obstacles and octomap using MoveIt!'s PlanningSceneMonitor

The cob_omni_drive_controller package provides a ros_controller plugin for the Care-O-bot omni-directional base platform.

This stack provides utilities commonly needed for a variety of computer vision tasks.

This package contains common message type definitions for perception tasks.

The cob_phidget_em_state package publishes emergency state based on phidgets signals.

The cob_phidget_power_state package publishes power state based on phidgets signals.

cob_phidgets

This package provides a node broadcasting a tf frame based on reflector markers detected within sensor_msgs::LaserScan messages. It can be used to position/reference a robot wrt to the reflektor markers.

cob_relayboard

This stack holds packages for hardware configuration as well as launch files for starting up the basic layer for operating Care-O-bot.

This package is a substitute for the private implementation of cob_safety_controller package

The cob_scan_unifier package holds code to unify two or more laser-scans to one unified scan-message

The cob_script_server package provides a simple interface to operate Care-O-bot. It can be used via the python API or the actionlib interface.

This package published a laser scan message out of a Sick LMS1xx laser scanner. This version is made by fusion of ipa320/RCPRG_laser_drivers and ipa320/libLMS1xx repository. This package shuld have clearer structure and be easier to install.

This package published a laser scan message out of a Sick S300 laser scanner.

The cob_simulation stack includes packages to work with Care-O-bot within simulation environments, e.g. gazebo.

This package implements a sound play module using text2wave and aplay through python.

This Package contains Care-O-bot specific service definitions.

cob_substitute

This package contains the list of supported robots within the care-o-bot family.

Teleop node

This package provides a trajectory controller which controlls velocities for a chain of joints. This controller can be used e.g. with [[schunk_powercube_chain]].

The cob_omni_drive_controller package provides a ros_controller plugin for the Care-O-bot tricycle base platform.

The main purpose of the cob_twist_controller is to convert target twists into joint velocities. Therefore it makes use of several implemented inverse kinematics approaches at the first order differential level. The inverse differential kinematics solver considers kinematic chain extensions, singularity robustness, redundancy resolution and priority-based methods. To avoid hardware destruction there is a limiter interface active as well. Via parameter server users can dynamically configure the solving strategy.

cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity

Deprecated "cob_utilities" subsumes a number of classes, which are used in the original COb3 software. E.g. "IniFile.h" supports the original inifile structure of Care-O-bot 3. "MathSup.h" provides some basic functions like conversion from degree to radion or norming of angles within +/- PI. The package is currently used while the drivers are ported to ROS and Orocos respectively. Midterm it shall be removed and the ROS structures shall be used for reading parameters during initialization. So, don't use this package in new code!

Contains utilities used within the object detection tool chain.

Interface to IO board that manages emergency stop and battery voltage on rob@work 3

CMake configuration to run coverage

The codec_image_transport package

This package contains a C++ parser for the Collada robot description format. The parser reads a Collada XML robot description, and creates a C++ URDF model. Although it is possible to directly use this parser when working with Collada robot descriptions, the preferred user API is found in the urdf package.

This package contains a tool to convert Unified Robot Description Format (URDF) documents into COLLAborative Design Activity (COLLADA) documents. Implements robot-specific COLLADA extensions as defined by http://openrave.programmingvision.com/index.php/Started:COLLADA

unaccepted patch for collada_urdf

An almost dependency-less library for converting between color spaces

Combined Robot HW class.

Tests for the combined Robot HW class.