Component configuration

For each robot there is a folder called config, where you can find the yaml files for each components of this robot. Here you can configure the sensors and actors. You can find the information of this configuration parameters in the following packages:

Urdf

The robot urdf is composed out of components defined in cob_description and schunk_description.

You can check your urdf settings with

rosrun xacro xacro.py <<xacro_file>> > <<urdf_file>>
rosrun urdf_parser check_urdf <<urdf_file>>

and graphically with

roslaunch urdf_tutorial display.launch gui:=True model:=<<urdf_file>> 

<<xacro_file>> is for example cob3-3/urdf/cob3-3.urdf.xacro.

Calibration

Calibration data is stored in cob_calibration_data package.

The calibration of Care-O-bot have to be done in two steps, first manual with the water balance you have to calibrate torso and tray, the second step is automatic using the package cob_calibration .