Launch files to configure and startup the Care-O-bot arm (lwa 3 from Schunk) based on the cob_powercube_chain.
This package doesn't have a own ROS API, it just configures the cob_powercube_chain with 7 DOF.
For starting only the arm use
roslaunch cob_arm solo.launch
For including the arm in your overall launch file use
<include file="$(find cob_arm)/ros/launch/arm.launch" />
A sample parameter file could look like this
can_module: PCAN can_device: /dev/pcan0 can_baudrate: 1000 module_ids: [4,5,6,7,8,9,10] joint_names: [arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint] max_accelerations: [0.8,0.8,0.8,0.8,0.8,0.8,0.8] OperationMode: position
For moving the arm start the cob_dashboard
export ROBOT=cob3-2 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.