Cobot Documentation

This page serves as a reference for the integration of a pneumatic Cobot (provided by Festo SE & Co. KG) into MoveIt2 and ROS2 Control: https://github.com/robgineer/cobot.

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In oder to get a deep insight into this project and to use the Cobot for your custom tasks, follow the steps below.

  1. Check out the Quickstart Guide to get the Cobot running in Simulation or on its real hardware.
  2. Run some demos using the C++ / Python API or the MoveIt Task Constructor from the demo package.
  3. Get an overview of the MoveIt2 / ROS2 Control Configuration and the launch files.
  4. Get familiar with the Cobot Model and delve deeper into model creation in the Cobot Modelling Jupyter Notebook.
  5. Understand the custom Cobot control setup: Cobot Trajectory Controller / Cobot Hardware Interface.
  6. Learn how to evaluate your own planner config based on our planner evaluation.
  7. Calibrate your custom camera using the hand eye calibration implementation.