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Hardware Requirements

This package configures the cob_powercube_chain to use one powercube for the Care-O-bot tray. Alternatively you can use a simulated version without any hardware, see cob_gazebo.


This package doesn't have a own ROS API, it just configures the cob_powercube_chain with 1 DOF.


For starting only the tray use

roslaunch cob_tray solo.launch

For including the tray in your overall launch file use

<include file="$(find cob_tray)/ros/launch/tray.launch" />

A sample parameter file could look like this

can_module: PCAN
can_device: /dev/pcan0
can_baudrate: 500
module_ids: [10]
joint_names: [torso_tray_joint]
max_accelerations: [0.8]
OperationMode: position

For moving the tray start the cob_dashboard

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.

2024-06-15 12:54