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Only released in EOL distros:  

cob_driver: cob_base_drive_chain | cob_camera_sensors | cob_canopen_motor | cob_generic_can | cob_head_axis | cob_hokuyo | cob_hwboard | cob_light | cob_phidgets | cob_relayboard | cob_sick_lms1xx | cob_sick_s300 | cob_sound | cob_undercarriage_ctrl | cob_utilities | cob_voltage_control

Package Summary


  • Maintainer status: developed
  • Maintainer: Eduard Herkel <uhr-eh AT ipa.fhg DOT de>
  • Author: Eduard Herkel
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_driver.git (branch: hydro_release_candidate)

Hardware Requirements

To use this package the care-o-bot has to be equiped with a hardware monitor board.


The cob_hwboard package can be used to monitor certain voltages, currents and temperatures inside the robot.


The cob_hwboard node directly recieves measured values from the hardware and publishes them on the diagnostics topic.

Published Topics

/diagnostics (diagnostics_msgs/DiagnosticArray)


devicestring (string, default: Required) head_sensor (integer, default: Required) eye_sensor (integer, default: Required) torso_module_sensor (integer, default: Required) torso_sensor (integer, default: Required) pc_sensor (integer, default: Required) engine_sensor (integer, default: Required)


For starting only the hwboard use

roslaunch cob_bringup hwboard.launch

For including the hwboard in your overall launch file use

<include file="$(find cob_bringup)/components/hwboard.launch" />

All hardware configuration is done by using a yaml-file stored in the cob_hardware_config package. The file which contains all necessary parameters is located in "cob_hardware_config/cob3-3/config/hwboard.yaml" and should be similar to this

devicestring: /dev/ttyHwBoard
head_sensor: 0x103AEE7A
eye_sensor: 0x1089D07A
torso_module_sensor: 0x102BA47D
torso_sensor: 0x10E4967D
pc_sensor: 0x1082E17B
engine_sensor: 0x10FADC7A

2020-03-28 12:32