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add cob4-16 uh
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‎cob_bringup/robots/cob4-16.launch

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<?xml version="1.0"?>
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<launch>
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<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
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<include file="$(find cob_bringup)/robots/cob4-16.xml">
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<arg name="cob4-16-b1" value="cob4-16-b1"/>
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<arg name="cob4-16-t1" value="cob4-16-t1"/>
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<arg name="cob4-16-t2" value="cob4-16-t2"/>
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<arg name="cob4-16-t3" value="cob4-16-t3"/>
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<arg name="cob4-16-s1" value="cob4-16-s1"/>
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<arg name="cob4-16-h1" value="cob4-16-h1"/>
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<arg name="env-script" value="$(arg env-script)"/>
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</include>
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</launch>

‎cob_bringup/robots/cob4-16.xml

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<?xml version="1.0"?>
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<launch>
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<!-- args -->
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<arg name="robot" value="cob4-16"/>
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<arg name="cob4-16-b1" default="localhost"/>
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<arg name="cob4-16-t1" default="localhost"/>
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<arg name="cob4-16-t2" default="localhost"/>
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<arg name="cob4-16-t3" default="localhost"/>
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<arg name="cob4-16-s1" default="localhost"/>
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<arg name="cob4-16-h1" default="localhost"/>
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<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
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<arg name="sim" default="false"/>
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<!-- upload robot description -->
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<include file="$(find cob_hardware_config)/upload_robot.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<!-- upload semantic description -->
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<include file="$(find cob_moveit_config)/launch/upload_config.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="load_semantic_description" value="true"/>
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<arg name="load_planning_context" value="false"/>
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</include>
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<!-- upload default configuration parameters -->
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<include file="$(find cob_default_robot_config)/upload_param.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<group>
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<machine name="$(anon b1)" address="$(arg cob4-16-b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-b1)"/>
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<arg name="enable_ntp_monitoring" value="false"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/drivers/bms.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/drivers/sick_s300.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="base_laser_front"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/drivers/sick_s300.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="base_laser_right"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/drivers/sick_s300.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="base_laser_left"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/components/cob4_base.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/drivers/light.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="light_base"/>
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<arg name="sim_enabled" value="$(arg sim)"/>
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</include>
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<!-- start common nodes used in hardware and simulation -->
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<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<!-- <include file="$(find cob_bringup)/tools/collision_monitor.launch"> -->
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<node pkg="rostopic" type="rostopic" args="pub /safety_controller/state_is_valid std_msgs/Bool 'data: true' -r10" name="fake_collission_monitor" output="screen"/>
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<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<include file="$(find cob_bringup)/tools/emergency_stop_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<include file="$(find cob_bringup)/tools/battery_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<include file="$(find cob_bringup)/tools/teleop.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/tools/docker_control.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="multi_station" default="true"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/tools/robot_state_publisher.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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<!-- simulation only -->
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<include if="$(arg sim)" file="$(find cob_bringup)/tools/fake_diagnostics.launch">
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<arg name="fake_diagnostics" value="'base_laser_front, base_laser_right, base_laser_left, -b1, -t1, -t2, -t3, -s1, -h1, joy, safety'"/>
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</include>
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</group>
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<group>
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<machine name="$(anon t1)" address="$(arg cob4-16-t1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-t1)"/>
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<arg name="ntp_server" value="$(arg cob4-16-b1)"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/components/canopen_generic.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="torso"/>
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<arg name="can_device" value="can0"/>
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<arg name="sim" value="$(arg sim)"/>
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<arg if="$(arg sim)" name="cartesian_control" value="true"/>
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</include>
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<!--include file="$(find cob_bringup)/components/canopen_generic.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="arm_left"/>
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<arg name="can_device" value="can3"/>
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<arg name="sim" value="$(arg sim)"/>
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<arg if="$(arg sim)" name="cartesian_control" value="true"/>
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</include>
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<include file="$(find cob_bringup)/components/canopen_generic.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="arm_right"/>
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<arg name="can_device" value="can2"/>
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<arg name="sim" value="$(arg sim)"/>
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<arg if="$(arg sim)" name="cartesian_control" value="true"/>
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</include-->
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<include file="$(find cob_bringup)/components/canopen_generic.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="sensorring"/>
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<arg name="can_device" value="can1"/>
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<arg name="use_external_sync" value="true"/>
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<arg name="start_external_sync" value="true"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/components/canopen_generic.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="head"/>
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<arg name="can_device" value="can1"/>
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<arg name="use_external_sync" value="true"/>
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<arg name="start_external_sync" value="false"/>
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<arg name="sim" value="$(arg sim)"/>
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<arg if="$(arg sim)" name="cartesian_control" value="true"/>
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</include>
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<!--include file="$(find cob_bringup)/components/legacy_sdhx.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="gripper_left"/>
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<arg name="sim" value="$(arg sim)"/>
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</include-->
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<include file="$(find cob_bringup)/drivers/light.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="light_torso"/>
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<arg name="sim_enabled" value="$(arg sim)"/>
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</include>
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<include file="$(find cob_bringup)/components/cam3d_zr300_rgbd.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="torso_cam3d_left"/>
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<arg name="num_worker_threads" value="2"/>
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<arg name="start_manager" value="false"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<!-- start common nodes used in hardware and simulation -->
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<include file="$(find cob_script_server)/launch/script_server.launch"/>
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<include file="$(find cob_bringup)/tools/behavior.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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</group>
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<group>
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<machine name="$(anon t2)" address="$(arg cob4-16-t2)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-t2)"/>
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<arg name="ntp_server" value="$(arg cob4-16-b1)"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="torso_cam3d_down"/>
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<arg name="num_worker_threads" value="2"/>
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<arg name="start_manager" value="false"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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</group>
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<group>
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<machine name="$(anon t3)" address="$(arg cob4-16-t3)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-t3)"/>
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<arg name="ntp_server" value="$(arg cob4-16-b1)"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/components/cam3d_zr300_rgbd.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="torso_cam3d_right"/>
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<arg name="num_worker_threads" value="2"/>
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<arg name="start_manager" value="false"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<!--include file="$(find cob_bringup)/components/legacy_sdhx.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="component_name" value="gripper_right"/>
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<arg name="sim" value="$(arg sim)"/>
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</include-->
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</group>
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<group>
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<machine name="$(anon s1)" address="$(arg cob4-16-s1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-s1)"/>
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<arg name="ntp_server" value="$(arg cob4-16-b1)"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="name" value="sensorring_cam3d"/>
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<arg name="device_id" value="#1"/>
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<arg name="data_skip" value="0"/>
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<arg name="start_manager" value="false"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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</group>
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<group>
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<machine name="$(anon h1)" address="$(arg cob4-16-h1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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<!-- start hardware -->
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<group unless="$(arg sim)">
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<include file="$(find cob_bringup)/tools/pc_monitor.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="pc" value="$(arg cob4-16-h1)"/>
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<arg name="ntp_server" value="$(arg cob4-16-b1)"/>
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</include>
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</group>
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<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="sim" value="$(arg sim)"/>
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</include>
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<!-- start common nodes used in hardware and simulation -->
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<include file="$(find cob_bringup)/drivers/sound.launch">
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<arg name="robot" value="$(arg robot)"/>
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</include>
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</group>
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<group> <!-- this is a special group to assign DISPLAY:=0 only to the mimic node (and not to all other nodes, e.g. sound node) -->
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<machine name="$(anon h1-display)" address="$(arg cob4-16-h1)" env-loader="$(arg env-script).display" default="true" timeout="30"/>
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<include file="$(find cob_bringup)/drivers/mimic.launch">
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<arg name="sim" value="$(arg sim)"/>
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</include>
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</group>
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<machine name="$(anon b1)" address="$(arg cob4-16-b1)" env-loader="$(arg env-script)" default="true" timeout="30"/>
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</launch>

‎cob_default_robot_behavior/CMakeLists.txt

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@@ -12,6 +12,7 @@ set(robotlist
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cob4-7
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cob4-8
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cob4-10
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cob4-16
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)
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foreach(robot ${robotlist})

‎cob_default_robot_behavior/scripts/trigger_srvs_cob4-16.py

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#!/usr/bin/env python
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#
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# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import rospy
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from cob_default_robot_behavior import default_behavior
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from std_srvs.srv import Trigger, TriggerResponse
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def trigger_srvs():
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rospy.init_node('trigger_srvs')
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s = rospy.Service('/behavior/setLightCyan',Trigger,default_behavior.setLightCyan_cb)
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s = rospy.Service('/behavior/setLightRed',Trigger,default_behavior.setLightRed_cb)
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s = rospy.Service('/behavior/setLightGreen',Trigger,default_behavior.setLightGreen_cb)
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s = rospy.Service('/behavior/setLightCyanSweep',Trigger,default_behavior.setLightCyanSweep_cb)
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s = rospy.Service('/behavior/setLightCyanBreath',Trigger,default_behavior.setLightCyanBreath_cb)
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s = rospy.Service('/behavior/setMimicLaughing',Trigger,default_behavior.setMimicLaughing_cb)
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s = rospy.Service('/behavior/setMimicAsking',Trigger,default_behavior.setMimicAsking_cb)
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s = rospy.Service('/behavior/setMimicYes',Trigger,default_behavior.setMimicYes_cb)
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s = rospy.Service('/behavior/setMimicBlinkingRight',Trigger,default_behavior.setMimicBlinkingRight_cb)
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s = rospy.Service('/behavior/setMimicConfused',Trigger,default_behavior.setMimicConfused_cb)
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s = rospy.Service('/behavior/setMimicAngry',Trigger,default_behavior.setMimicAngry_cb)
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s = rospy.Service('/behavior/setMimicFallingAsleep',Trigger,default_behavior.setMimicFallingAsleep_cb)
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s = rospy.Service('/behavior/soundHello',Trigger,default_behavior.soundHello_cb)
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rospy.spin()
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if __name__ == "__main__":
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trigger_srvs()

‎cob_default_robot_config/robots/cob4-16/script_server/arm_left_joint_configurations.yaml

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joint_names: ["arm_left_1_joint","arm_left_2_joint","arm_left_3_joint","arm_left_4_joint","arm_left_5_joint","arm_left_6_joint","arm_left_7_joint"]
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action_name: /arm_left/joint_trajectory_controller/follow_joint_trajectory
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service_ns: /arm_left/driver
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default_vel: 0.3
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# single positions
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home: [[0,0,0,0,0,0,0]]
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folded: [[0.9599, 1.5708, -0.1200, 1.0000, 1.3800, 0.7500, -1.3600]]
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side: [[-0.9599, -1.6581, 1.0472, 1.6581, 1.0472, 0.6981, -1.0700]]
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ship: [[-1.57, -1.45, 1.57, 2.55, 0.0, -2.4, 0.0]]
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hello1: [[-1.69,-1.19,0.48,2.09,0.34,-0.16,-0.12]]
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hello2 : [[-1.69, -1.19, 0.48, 2.61, 0.34, 0.38, 0.5]]
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arm_to_tray : [[1.06, 1.2, -1.4, 1.9, -1.84, -1.12, -0.64]]
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hello: [hello1, hello2, hello1, hello2, side]
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wave1: [[-1.5, 0, 0, 0, 0, 0, 0]]
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wave2: [[-1.5, 0.3, 0, -1, 0, 0.7, 0]]
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wave3: [[-1.5, -0.3, 0, 1, 0, -0.7, 0]]
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wave_demo: [home,wave1,wave2,wave3,wave2,wave1,home,side]

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