diff --git a/can_filter_chain: b/can_filter_chain:
new file mode 100644
index 000000000..c7a7a1ac9
--- /dev/null
+++ b/can_filter_chain:
@@ -0,0 +1,22718 @@
+[1mdiff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/components/cob4_base.launch[m
+[1mindex bedfbac..d496dc1 100644[m
+[1m--- a/cob_bringup/components/cob4_base.launch[m
+[1m+++ b/cob_bringup/components/cob4_base.launch[m
+[36m@@ -5,6 +5,7 @@[m
+ [m
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+[1mindex 65ea310..2808b69 100644[m
+[1m--- a/cob_bringup/components/raw3_base.launch[m
+[1m+++ b/cob_bringup/components/raw3_base.launch[m
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+ [m
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+[1mdiff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/components/ros_control_base.launch[m
+[1mindex 36ada43..ba8d37a 100644[m
+[1m--- a/cob_bringup/components/ros_control_base.launch[m
+[1m+++ b/cob_bringup/components/ros_control_base.launch[m
+[36m@@ -3,6 +3,7 @@[m
+ [m
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+[32m+[m[32m [m
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+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_bringup/robot.launch b/cob_bringup/robot.launch[m
+[1mindex 0e911fc..2c3c12a 100644[m
+[1m--- a/cob_bringup/robot.launch[m
+[1m+++ b/cob_bringup/robot.launch[m
+[36m@@ -1,12 +1,16 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
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+ [m
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+ [m
+ [m
+ [m
+[32m+[m [32m[m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_bringup/robots/cob4-18.launch b/cob_bringup/robots/cob4-18.launch[m
+[1mindex 0bbd51c..671d45d 100644[m
+[1m--- a/cob_bringup/robots/cob4-18.launch[m
+[1m+++ b/cob_bringup/robots/cob4-18.launch[m
+[36m@@ -1,11 +1,17 @@[m
+ [m
+ [m
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+[32m+[m [32m[m
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+[32m+[m [32m[m
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+[32m+[m
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+ [m
+[1mdiff --git a/cob_bringup/robots/cob4-18.xml b/cob_bringup/robots/cob4-18.xml[m
+[1mindex d4242f2..ee89854 100644[m
+[1m--- a/cob_bringup/robots/cob4-18.xml[m
+[1m+++ b/cob_bringup/robots/cob4-18.xml[m
+[36m@@ -1,11 +1,11 @@[m
+ [m
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+[31m-[m
+ [m
+ [m
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+ [m
+ [m
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+[32m+[m [32m[m
+ [m
+ [m
+ [m
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+[1mindex 120c73b..40d20e5 100644[m
+[1m--- a/cob_bringup/robots/raw3-1.launch[m
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+[36m@@ -1,13 +1,14 @@[m
+ [m
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+[32m+[m [32m[m
+ [m
+ [m
+ [m
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+ [m
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+ [m
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+[1mindex b22fe8e..712de56 100644[m
+[1m--- a/cob_bringup/robots/raw3-3.launch[m
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+ [m
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+\ No newline at end of file[m
+[1mdiff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml[m
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+ [m
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+ [m
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+[1mindex 96b7658..735228c 100644[m
+[1m--- a/cob_bringup/tools/base_collision_observer.launch[m
+[1m+++ b/cob_bringup/tools/base_collision_observer.launch[m
+[36m@@ -7,10 +7,10 @@[m
+ [m
+ [m
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+ [m
+ [m
+ [m
+[1mdiff --git a/cob_bringup/tools/battery_monitor.launch b/cob_bringup/tools/battery_monitor.launch[m
+[1mindex 20e49a8..850d3bf 100644[m
+[1m--- a/cob_bringup/tools/battery_monitor.launch[m
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+ [m
+ [m
+ [m
+[31m- [m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_bringup/tools/robot_state_publisher.launch b/cob_bringup/tools/robot_state_publisher.launch[m
+[1mindex 0773a17..00ce6cb 100644[m
+[1m--- a/cob_bringup/tools/robot_state_publisher.launch[m
+[1m+++ b/cob_bringup/tools/robot_state_publisher.launch[m
+[36m@@ -3,12 +3,15 @@[m
+ [m
+ [m
+ [m
+[32m+[m [32m[m
+ [m
+[31m- [m
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+[31m- [m
+[32m+[m [32m[m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..6fec99b[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/cob4_base_controller.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..bd5152b[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml[m
+[36m@@ -0,0 +1,7 @@[m
+[32m+[m[32mscan_filter_chain:[m
+[32m+[m[32m - name: range[m
+[32m+[m[32m type: LaserScanRangeFilter[m
+[32m+[m[32m params:[m
+[32m+[m[32m use_message_range_limits: true[m
+[32m+[m[32m upper_threshold: 29.5[m
+[32m+[m[32m upper_replacement_value: 29.5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml[m
+[1mindex 3b850ea..9fb44b5 100644[m
+[1m--- a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml[m
+[1m+++ b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml[m
+[36m@@ -1,2 +1,2 @@[m
+ rate: 100 #Hz[m
+[31m-source_list: [/base/joint_states][m
+\ No newline at end of file[m
+[32m+[m[32msource_list: [base/joint_states][m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/cob4-19.rviz b/cob_hardware_config/robots/cob4-19/cob4-19.rviz[m
+[1mnew file mode 120000[m
+[1mindex 0000000..d271133[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/cob4-19.rviz[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../cob4/cob4_base.rviz[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_controller.yaml b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..e3ab0fc[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_controller.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m/home/srd-rd/catkin_ws/src/cob_robots/cob_hardware_config/robots/common/cob4_base_controller.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_driver.yaml b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..69bc1b0[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_driver.yaml[m
+[36m@@ -0,0 +1,12 @@[m
+[32m+[m[32mnodes:[m
+[32m+[m[32m fl_caster_rotation_joint:[m
+[32m+[m[32m dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings)[m
+[32m+[m[32m "607C": "127621.5" # home offset[m
+[32m+[m
+[32m+[m[32m b_caster_rotation_joint:[m
+[32m+[m[32m dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings)[m
+[32m+[m[32m "607C": "9528.0" # home offset[m
+[32m+[m
+[32m+[m[32m fr_caster_rotation_joint:[m
+[32m+[m[32m dcf_overlay: # "ObjectID" : "ParameterValue" (both as strings)[m
+[32m+[m[32m "607C": "-108166.0" # home offset[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_filter.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..bd5152b[m
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+[36m@@ -0,0 +1,7 @@[m
+[32m+[m[32mscan_filter_chain:[m
+[32m+[m[32m - name: range[m
+[32m+[m[32m type: LaserScanRangeFilter[m
+[32m+[m[32m params:[m
+[32m+[m[32m use_message_range_limits: true[m
+[32m+[m[32m upper_threshold: 29.5[m
+[32m+[m[32m upper_replacement_value: 29.5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..f9704b5[m
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+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_laser_front.xml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_front.xml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_front.yaml[m
+[1mnew file mode 120000[m
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+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_front.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..c2d18d5[m
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+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.xml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_left.xml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..04690a3[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_laser_left.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_left.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..4ad4535[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.xml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_right.xml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..dde5468[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/base_laser_right.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/base_laser_right.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..dc3b908[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/battery_monitor.yaml[m
+[36m@@ -0,0 +1,7 @@[m
+[32m+[m[32mthreshold_warning: 20 # % of battery level[m
+[32m+[m[32mthreshold_error: 10 # % of battery level[m
+[32m+[m[32mthreshold_critical: 5 # % of battery level[m
+[32m+[m
+[32m+[m[32menable_light: false[m
+[32m+[m[32menable_sound: false[m
+[32m+[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/bms.yaml b/cob_hardware_config/robots/cob4-19/config/bms.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..f487e3f[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/bms.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/bms.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..3ec452a[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/collision_velocity_filter_params.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/collision_velocity_filter_params.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..98138bf[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/diagnostics_analyzers.yaml[m
+[36m@@ -0,0 +1,64 @@[m
+[32m+[m[32mpub_rate: 1.0 # Optional[m
+[32m+[m[32mbase_path: '' # Optional, prepended to all diagnostic output[m
+[32m+[m[32manalyzers:[m
+[32m+[m[32m computers:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Computers[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m b1:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: b1[m
+[32m+[m[32m contains: '-b1'[m
+[32m+[m[32m# network:[m
+[32m+[m[32m# type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m# path: Network[m
+[32m+[m[32m# analyzers:[m
+[32m+[m[32m# wifi:[m
+[32m+[m[32m# type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m# path: wifi[m
+[32m+[m[32m# num_items: 1[m
+[32m+[m[32m# expected: ['Wifi Status (ddwrt)'][m
+[32m+[m
+[32m+[m[32m io:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: IO[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m joystick:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Joystick[m
+[32m+[m[32m contains: 'joy'[m
+[32m+[m
+[32m+[m[32m sensors:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Sensors[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m laser_top:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Front[m
+[32m+[m[32m contains: 'laser_front'[m
+[32m+[m[32m laser_rear:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Right[m
+[32m+[m[32m contains: 'laser_right'[m
+[32m+[m[32m laser_front:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Left[m
+[32m+[m[32m contains: 'laser_left'[m
+[32m+[m[32m battery:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Battery Status[m
+[32m+[m[32m contains: 'bms'[m
+[32m+[m
+[32m+[m[32m motors:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Actuators[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m base:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Base[m
+[32m+[m[32m contains: 'base/'[m
+[32m+[m
+[32m+[m[32m safety:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Safety[m
+[32m+[m[32m contains: 'safety'[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..e17f566[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/docking_laser_filter.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/docking_laser_filter.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..c2da1fc[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/docking_linear_nav.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/docking_linear_nav.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..1ef4f7b[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/docking_stations.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/docking_stations.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..9ffab12[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/emergency_stop_monitor.yaml[m
+[36m@@ -0,0 +1,9 @@[m
+[32m+[m[32menable_light: true[m
+[32m+[m[32mlight_components: ['light_base'][m
+[32m+[m[32mcolor_ok: cyan[m
+[32m+[m
+[32m+[m[32menable_sound: false[m
+[32m+[m[32msound_components: ['sound'][m
+[32m+[m
+[32m+[m[32mdiagnostics_based: true[m
+[32m+[m[32mmotion_based: true[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..3c702c5[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/flexisoft.yaml[m
+[36m@@ -0,0 +1,14 @@[m
+[32m+[m[32mport: "9100" # alternative syntax: !!str 9100[m
+[32m+[m[32modometry_timeout: 1.0[m
+[32m+[m[32mthreshold_linear_slow: 0.4[m
+[32m+[m[32mthreshold_linear_fast: 0.9[m
+[32m+[m[32mthreshold_angular_fast: 1.0[m
+[32m+[m[32mmarker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported[m
+[32m+[m[32mscale_x: 1.0[m
+[32m+[m[32mscale_y: 1.0[m
+[32m+[m[32mscale_z: 1.0[m
+[32m+[m[32mfootprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]][m
+[32m+[m[32mfootprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]][m
+[32m+[m[32mfootprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]][m
+[32m+[m[32mfootprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]][m
+[32m+[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..eb83c5a[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/footprint_observer_params.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/footprint_observer_params.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..9fb44b5[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/joint_state_publisher.yaml[m
+[36m@@ -0,0 +1,2 @@[m
+[32m+[m[32mrate: 100 #Hz[m
+[32m+[m[32msource_list: [base/joint_states][m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/joy.yaml b/cob_hardware_config/robots/cob4-19/config/joy.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..cf1fd49[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/joy.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/joy.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/light_base.yaml b/cob_hardware_config/robots/cob4-19/config/light_base.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..1f02f87[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/light_base.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/light_base.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..a440aed[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/local_costmap_params.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/local_costmap_params.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..41b6c29[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/ntp_monitor.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/ntp_monitor.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..43d2ce8[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_cob4-18-b1.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/pc_monitor_cob4-b1.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..2c1d202[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/pc_monitor_localhost.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/pc_monitor_localhost.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..4e20cd0[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/scan_unifier_filter.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/scan_unifier_filter.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/teleop.yaml b/cob_hardware_config/robots/cob4-19/config/teleop.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..70d7ca6[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/teleop.yaml[m
+[36m@@ -0,0 +1,39 @@[m
+[32m+[m[32m#cob4-19[m
+[32m+[m[32m##########[m
+[32m+[m[32m# common params[m
+[32m+[m[32mrun_factor: 2.0[m
+[32m+[m[32mapply_ramp: false[m
+[32m+[m[32mjoy_num_buttons: 12[m
+[32m+[m[32mjoy_num_axes: 6[m
+[32m+[m[32mjoy_num_modes: 4[m
+[32m+[m[32mmode_switch_button: 8[m
+[32m+[m
+[32m+[m[32menable_light: false[m
+[32m+[m[32mlight_action_name: /light_torso/set_light[m
+[32m+[m[32menable_sound: false[m
+[32m+[m[32msound_action_name: /sound/say[m
+[32m+[m
+[32m+[m[32m# axes[m
+[32m+[m[32maxis_vx: 1[m
+[32m+[m[32maxis_vy: 0[m
+[32m+[m[32maxis_vz: 5[m
+[32m+[m[32maxis_roll: 4[m
+[32m+[m[32maxis_pitch: 3[m
+[32m+[m[32maxis_yaw: 2[m
+[32m+[m
+[32m+[m[32m# buttons[m
+[32m+[m[32mdeadman_button: 5[m
+[32m+[m[32msafety_button: 4[m
+[32m+[m[32minit_button: 9[m
+[32m+[m
+[32m+[m[32m#mode1: Base[m
+[32m+[m[32mrun_button: 7[m
+[32m+[m
+[32m+[m[32mcomponents: {[m
+[32m+[m[32m base: {[m
+[32m+[m[32m twist_topic_name: '/base/twist_mux/command_teleop_joy',[m
+[32m+[m[32m twist_safety_topic_name: '/base/collision_velocity_filter/command',[m
+[32m+[m[32m twist_max_velocity: [0.3, 0.2, 0.3],[m
+[32m+[m[32m twist_max_acc: [0.5, 0.5, 0.7][m
+[32m+[m[32m }[m
+[32m+[m[32m}[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..5a4acfd[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_locks.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/twist_mux_locks.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..28072f1[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/twist_mux_topics.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/twist_mux_topics.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..5ce45e5[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/config/velocity_smoother.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../cob4/config/velocity_smoother.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..aec33c7[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/urdf/calibration_default.urdf.xacro[m
+[36m@@ -0,0 +1,30 @@[m
+[32m+[m[32m[m
+[32m+[m[32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m[32m[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..b0c72b6[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/urdf/cob4-19.urdf.xacro[m
+[36m@@ -0,0 +1,32 @@[m
+[32m+[m[32m[m
+[32m+[m[32m[m
+[32m+[m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m
+[32m+[m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m
+[32m+[m[32m[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..bbbc362[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19/urdf/properties.urdf.xacro[m
+[36m@@ -0,0 +1,33 @@[m
+[32m+[m[32m[m
+[32m+[m[32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m[32m[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz[m
+[1mnew file mode 100644[m
+[1mindex 0000000..bfad9e9[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/cob4-19.rviz[m
+[36m@@ -0,0 +1,807 @@[m
+[32m+[m[32mPanels:[m
+[32m+[m[32m - Class: rviz/Displays[m
+[32m+[m[32m Help Height: 78[m
+[32m+[m[32m Name: Displays[m
+[32m+[m[32m Property Tree Widget:[m
+[32m+[m[32m Expanded:[m
+[32m+[m[32m - /Global Options1[m
+[32m+[m[32m - /TF1/Frames1[m
+[32m+[m[32m Splitter Ratio: 0.804714[m
+[32m+[m[32m Tree Height: 843[m
+[32m+[m[32m - Class: rviz/Selection[m
+[32m+[m[32m Name: Selection[m
+[32m+[m[32m - Class: rviz/Tool Properties[m
+[32m+[m[32m Expanded:[m
+[32m+[m[32m - /2D Pose Estimate1[m
+[32m+[m[32m - /2D Nav Goal1[m
+[32m+[m[32m Name: Tool Properties[m
+[32m+[m[32m Splitter Ratio: 0.588679[m
+[32m+[m[32m - Class: rviz/Views[m
+[32m+[m[32m Expanded:[m
+[32m+[m[32m - /Current View1[m
+[32m+[m[32m Name: Views[m
+[32m+[m[32m Splitter Ratio: 0.5[m
+[32m+[m[32m - Class: rviz/Time[m
+[32m+[m[32m Experimental: false[m
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+[1mnew file mode 100644[m
+[1mindex 0000000..2b6a53b[m
+[1m--- /dev/null[m
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+[1mnew file mode 100644[m
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+[1mnew file mode 100644[m
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+[32m+[m[32m[m[41m
[m
+[32m+[m[32m[m[41m
[m
+[32m+[m[32m[m[41m
[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..39770bd[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/base_laser_right.yaml[m
+[36m@@ -0,0 +1,9 @@[m
+[32m+[m[32mport: /dev/ttyScanRight[m
+[32m+[m[32mbaud: 500000[m
+[32m+[m[32mscan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz[m
+[32m+[m[32mscan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms[m
+[32m+[m[32minverted: false[m
+[32m+[m[32mscan_id: 8[m
+[32m+[m[32mframe_id: /base_laser_right_link[m
+[32m+[m[32mpublish_frequency: 12[m
+[32m+[m[32mscan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..74692de[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/battery_monitor.yaml[m
+[36m@@ -0,0 +1,13 @@[m
+[32m+[m[32mthreshold_warning: 20 # % of battery level[m
+[32m+[m[32mthreshold_error: 10 # % of battery level[m
+[32m+[m[32mthreshold_critical: 5 # % of battery level[m
+[32m+[m
+[32m+[m[32menable_light: true[m
+[32m+[m[32mnum_leds: 72[m
+[32m+[m[32mlight_components: ['light_torso'][m
+[32m+[m
+[32m+[m[32menable_sound: false[m
+[32m+[m[32msound_components: [''] # use odp to verbalize[m
+[32m+[m
+[32m+[m[32msound_critical: "Meine Batterie ist leer. Bitte lade mich wieder auf."[m
+[32m+[m[32msound_warning: "Meine Batterie is fast leer. Ich sollte demnächst wieder aufladen."[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..08c1aa6[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/bms.yaml[m
+[36m@@ -0,0 +1,119 @@[m
+[32m+[m[32mdiagnostics:[m[41m [m
+[32m+[m[32m - id: 0x01[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "battery_empty"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x01[m
+[32m+[m[32m - name: "battery_almost_empty"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x02[m
+[32m+[m[32m - name: "charging_fet_active"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x04[m
+[32m+[m[32m - name: "discharging_fet_active"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x08[m
+[32m+[m[32m - name: "battery_learning"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x10[m
+[32m+[m[32m - name: "battery_discharging"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x20[m
+[32m+[m[32m - name: "battery_full"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x40[m
+[32m+[m[32m - name: "battery_charging"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m bit_mask: 0x80[m
+[32m+[m[32m - id: 0x02[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "current"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.01[m
+[32m+[m[32m unit: "A"[m
+[32m+[m
+[32m+[m[32m - id: 0x03[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "voltage"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: false[m
+[32m+[m[32m factor: 0.01[m
+[32m+[m[32m unit: "V"[m
+[32m+[m
+[32m+[m[32m - id: 0x06[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "remaining_capacity"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: false[m
+[32m+[m[32m factor: 0.001[m
+[32m+[m[32m unit: "Ah"[m
+[32m+[m[32m - name: "full_charge_capacity"[m
+[32m+[m[32m offset: 2[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: false[m
+[32m+[m[32m factor: 0.001[m
+[32m+[m[32m unit: "Ah"[m
+[32m+[m
+[32m+[m[32m - id: 0x04[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "temperature"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32m - name: "temperature_cell_1"[m
+[32m+[m[32m offset: 2[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32m - name: "temperature_cell_2"[m
+[32m+[m[32m offset: 4[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32m - id: 0x05[m
+[32m+[m[32m fields:[m
+[32m+[m[32m - name: "temperature_cell_3"[m
+[32m+[m[32m offset: 0[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32m - name: "temperature_cell_4"[m
+[32m+[m[32m offset: 2[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32m - name: "temperature_cell_5"[m
+[32m+[m[32m offset: 4[m
+[32m+[m[32m len: 2[m
+[32m+[m[32m is_signed: true[m
+[32m+[m[32m factor: 0.1[m
+[32m+[m[32m unit: "Celsius"[m
+[32m+[m
+[32m+[m[32mtopics: ["current", "voltage", "remaining_capacity", "full_charge_capacity", "temperature", "battery_charging", "battery_full", "battery_learning", "battery_almost_empty"][m
+[32m+[m
+[32m+[m[32mcan_device: "can1"[m
+[32m+[m[32mbms_id_to_poll: 0x200[m
+[32m+[m[32mpoll_frequency_hz: 20[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..eec43f7[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/collision_velocity_filter_params.yaml[m
+[36m@@ -0,0 +1,19 @@[m
+[32m+[m[32m#where to look for costmap parameters[m
+[32m+[m[32mcostmap_parameter_source: "/local_costmap_node/costmap" #default "/local_costmap_node/costmap"[m
+[32m+[m
+[32m+[m[32m#frequency at which the get_footprint service should be called[m
+[32m+[m[32mfootprint_update_frequency: 0.5[m
+[32m+[m
+[32m+[m[32m#Parameters specifying slow down behaviour[m
+[32m+[m[32mpot_ctrl_vmax: 0.6 #default: 0.6[m
+[32m+[m[32mpot_ctrl_vtheta_max: 0.6 #default: 0.8[m
+[32m+[m[32mpot_ctrl_kv: 2.5 #damping default: 1.0[m
+[32m+[m[32mpot_ctrl_kp: 3.0 #stiffness default: 2.0[m
+[32m+[m[32mpot_ctrl_virt_mass: 0.5 #default: 0.8[m
+[32m+[m[32mmax_acceleration: [0.5, 0.5, 0.7][m
+[32m+[m
+[32m+[m[32m#Parameters specifying collision velocity filter[m
+[32m+[m[32minfluence_radius: 2.0 #[m] distance from robot_center[m
+[32m+[m[32mobstacle_damping_dist: 1.0 # used as slow-down dist[m
+[32m+[m[32mstop_threshold: 0.1 #[m][m
+[32m+[m[32muse_circumscribed_threshold: 0.5 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..3a3828e[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/diagnostics_analyzers.yaml[m
+[36m@@ -0,0 +1,116 @@[m
+[32m+[m[32mpub_rate: 1.0 # Optional[m
+[32m+[m[32mbase_path: '' # Optional, prepended to all diagnostic output[m
+[32m+[m[32manalyzers:[m
+[32m+[m[32m computers:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Computers[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m b1:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: b1[m
+[32m+[m[32m contains: '-b1'[m
+[32m+[m[32m t1:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: t1[m
+[32m+[m[32m contains: '-t1'[m
+[32m+[m[32m t2:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: t2[m
+[32m+[m[32m contains: '-t2'[m
+[32m+[m[32m t3:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: t3[m
+[32m+[m[32m contains: '-t3'[m
+[32m+[m[32m s1:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: s1[m
+[32m+[m[32m contains: '-s1'[m
+[32m+[m[32m h1:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: h1[m
+[32m+[m[32m contains: '-h1'[m
+[32m+[m[32m# network:[m
+[32m+[m[32m# type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m# path: Network[m
+[32m+[m[32m# analyzers:[m
+[32m+[m[32m# wifi:[m
+[32m+[m[32m# type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m# path: wifi[m
+[32m+[m[32m# num_items: 1[m
+[32m+[m[32m# expected: ['Wifi Status (ddwrt)'][m
+[32m+[m
+[32m+[m[32m io:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: IO[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m joystick:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Joystick[m
+[32m+[m[32m contains: 'joy'[m
+[32m+[m[32m sound:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Sound[m
+[32m+[m[32m contains: 'sound'[m
+[32m+[m[32m light:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Light[m
+[32m+[m[32m contains: 'light'[m
+[32m+[m
+[32m+[m[32m sensors:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Sensors[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m laser_top:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Front[m
+[32m+[m[32m contains: 'laser_front'[m
+[32m+[m[32m laser_rear:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Right[m
+[32m+[m[32m contains: 'laser_right'[m
+[32m+[m[32m laser_front:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Scan Left[m
+[32m+[m[32m contains: 'laser_left'[m
+[32m+[m[32m torso_cam3d_left:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Torso Cam3d Left[m
+[32m+[m[32m contains: 'torso_cam3d_left'[m
+[32m+[m[32m torso_cam3d_right:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Torso Cam3d Right[m
+[32m+[m[32m contains: 'torso_cam3d_right'[m
+[32m+[m[32m torso_cam3d_down:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Torso Cam3d Down[m
+[32m+[m[32m contains: 'torso_cam3d_down'[m
+[32m+[m[32m sensorring_cam3d:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Sensorring Cam3d[m
+[32m+[m[32m contains: 'sensorring_cam3d'[m
+[32m+[m[32m head_cam:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Head Cam[m
+[32m+[m[32m contains: 'head_cam'[m
+[32m+[m[32m battery:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Battery Status[m
+[32m+[m[32m contains: 'bms'[m
+[32m+[m
+[32m+[m[32m motors:[m
+[32m+[m[32m type: diagnostic_aggregator/AnalyzerGroup[m
+[32m+[m[32m path: Actuators[m
+[32m+[m[32m analyzers:[m
+[32m+[m[32m base:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Base[m
+[32m+[m[32m contains: 'base/'[m
+[32m+[m[32m sensorring:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Torso[m
+[32m+[m[32m contains: 'sensorring/'[m
+[32m+[m
+[32m+[m[32m safety:[m
+[32m+[m[32m type: diagnostic_aggregator/GenericAnalyzer[m
+[32m+[m[32m path: Safety[m
+[32m+[m[32m contains: 'safety'[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..2eefb88[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_laser_filter.yaml[m
+[36m@@ -0,0 +1,12 @@[m
+[32m+[m[32mscan_filter_chain:[m
+[32m+[m[32m- name: range[m
+[32m+[m[32m type: LaserScanRangeFilter[m
+[32m+[m[32m params:[m
+[32m+[m[32m lower_threshold: 0.005[m
+[32m+[m[32m upper_threshold: 3.0[m
+[32m+[m[32m- name: intensity[m
+[32m+[m[32m type: LaserScanIntensityFilter[m
+[32m+[m[32m params:[m
+[32m+[m[32m lower_threshold: 100[m
+[32m+[m[32m upper_threshold: 100000[m
+[32m+[m[32m disp_histogram: 0[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..7a457e2[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_linear_nav.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m#Parameters designing the potential field controller[m
+[32m+[m[32m#Translational part[m
+[32m+[m[32mkv: 2.50 #damping 2.50[m
+[32m+[m[32mkp: 3.00 #stiffness 3.0[m
+[32m+[m[32mvirt_mass: 0.50 #0.50[m
+[32m+[m[32mvmax: 0.09 #0.3[m
+[32m+[m[32mgoal_threshold: 0.02 #0.03[m
+[32m+[m[32mspeed_threshold: 0.02 #0.08[m
+[32m+[m
+[32m+[m[32m#Rotational part[m
+[32m+[m[32mkv_rot: 2.0 #damping 2.0[m
+[32m+[m[32mkp_rot: 2.0 #stiffness 2.0[m
+[32m+[m[32mvirt_mass_rot: 0.50 #0.5[m
+[32m+[m[32mvtheta_max: 0.3 # 0.3[m
+[32m+[m[32mgoal_threshold_rot: 0.06 #0.08[m
+[32m+[m[32mspeed_threshold_rot: 0.02 #0.08[m
+[32m+[m
+[32m+[m[32m#tf parameters[m
+[32m+[m[32mglobal_frame: odom_combined #/map[m
+[32m+[m[32mrobot_frame: base_link #/base_link[m
+[32m+[m
+[32m+[m[32mslow_down_distance: 0.25 #0.5[m] distance from robot_center to goal at which robot starts slowing down[m
+[32m+[m[32mgoal_abortion_time: 5.0 #5.0[s] time until robot aborts goal due to obstacle[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..f4c0dd3[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/docking_stations.yaml[m
+[36m@@ -0,0 +1,21 @@[m
+[32m+[m[32mstations:[m
+[32m+[m[32m- frame_id: station_charger[m
+[32m+[m[32m reflector_distance: 0.28[m
+[32m+[m[32m approach_poses: [[-0.76, 0.0, 0.0], [-0.56, 0.0, 0.0], [-0.47, 0.0, -0.02]] # in frame_id coords[m
+[32m+[m[32m departure_poses: [[-0.8, 0.0, 0.0]][m
+[32m+[m[32m stop_condition:[m
+[32m+[m[32m topic: '/power_state'[m
+[32m+[m[32m message_field: 'charging'[m
+[32m+[m[32m compare_value: True[m
+[32m+[m
+[32m+[m[32m- frame_id: station_travel_box[m
+[32m+[m[32m reflector_distance: 0.95[m
+[32m+[m[32m approach_poses: [[-2.20, 0.0, 0.0], [-0.6, 0.0, -0.035], [-0.38, 0.0, -0.035], [-0.312, 0.0, -0.035]] # in frame_id coords[m
+[32m+[m[32m departure_poses: [[-0.38, 0.0, -0.035], [-0.6, 0.0, -0.035], [-2.20, 0.0, 0.0]] # in frame_id coords[m
+[32m+[m
+[32m+[m[32mdistance_tolerance: 0.1[m
+[32m+[m[32mintensity_lower_threshold: 200[m
+[32m+[m[32mintensity_upper_threshold: 10000[m
+[32m+[m[32mupdate_rate: 0.25[m
+[32m+[m[32mdock_dist_threshold: 0.15[m
+[32m+[m[32mundock_dist_threshold: 1.0[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..00e960e[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/emergency_stop_monitor.yaml[m
+[36m@@ -0,0 +1,19 @@[m
+[32m+[m[32menable_light: true[m
+[32m+[m[32mlight_components: ['light_base'][m
+[32m+[m[32mcolor_ok: cyan[m
+[32m+[m
+[32m+[m[32menable_sound: true[m
+[32m+[m[32msound_components: [''] # use odp to verbalize[m
+[32m+[m
+[32m+[m[32msound_em_ready_laser_released: ""[m
+[32m+[m[32msound_em_ready_button_released: "Danke. Jetzt kann es weiter gehen."[m
+[32m+[m[32msound_em_acknowledged: ""[m
+[32m+[m[32msound_em_stop_laser_released: ""[m
+[32m+[m[32msound_em_stop_button_released: "Danke. Jetzt kann es weiter gehen."[m
+[32m+[m[32msound_em_stop_laser_issued: ""[m
+[32m+[m[32msound_em_stop_button_issued: "Notausknopf gedrueckt. Bitte loese den Knopf wieder durch leichtes Drehen, falls keine Notsituation mehr besteht."[m
+[32m+[m[32msound_em_stop_issued: ""[m
+[32m+[m[32msound_em_unknown_issued: ""[m
+[32m+[m
+[32m+[m[32mdiagnostics_based: true[m
+[32m+[m[32mmotion_based: true[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..651911d[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/flexisoft.yaml[m
+[36m@@ -0,0 +1,16 @@[m
+[32m+[m[32mport: "9100" # alternative syntax: !!str 9100[m
+[32m+[m[32modometry_timeout: 1.0[m
+[32m+[m[32mthreshold_linear_slow: 0.4[m
+[32m+[m[32mthreshold_linear_fast: 0.9[m
+[32m+[m[32mthreshold_angular_fast: 1.0[m
+[32m+[m[32mmarker_type: 11 # http://www.ros.org/wiki/rviz/DisplayTypes/Marker, not all are supported[m
+[32m+[m[32mscale_x: 1.0[m
+[32m+[m[32mscale_y: 1.0[m
+[32m+[m[32mscale_z: 1.0[m
+[32m+[m[32mfootprint_angular_slow: [[0.4,0.4], [-0.4,0.4], [-0.4,-0.4], [0.4,-0.4]][m
+[32m+[m[32mfootprint_angular_fast: [[0.5,0.5], [-0.5,0.5], [-0.5,-0.5], [0.5,-0.5]][m
+[32m+[m[32mfootprint_linear_slow: [[0.6,0.4], [-0.4,0.4], [-0.4,-0.4], [0.6,-0.4]][m
+[32m+[m[32mfootprint_linear_fast: [[0.8,0.4], [-0.4,0.4], [-0.4,-0.4], [0.8,-0.4]][m
+[32m+[m[32mhas_wireless_emstop: true[m
+[32m+[m[32mwarn_for_wireless_bridged: false[m
+[32m+[m[32mwarn_for_laser_bridged: false[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..c6ccb5d[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/footprint_observer_params.yaml[m
+[36m@@ -0,0 +1,8 @@[m
+[32m+[m[32m# node from which initial footprint is read[m
+[32m+[m[32mfootprint_source: /local_costmap_node/costmap[m
+[32m+[m
+[32m+[m[32m#[m
+[32m+[m[32mrobot_base_frame: /base_link[m
+[32m+[m[32m# frames to check for footprint adjustment[m
+[32m+[m[32mframes_to_check: /base_laser_front_link /base_laser_left_link /base_laser_right_link[m
+[32m+[m[32mepsilon: 0.01[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..d5871da[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/head_cam.yaml[m
+[36m@@ -0,0 +1,5 @@[m
+[32m+[m[32mvideo_device: "/dev/video0"[m
+[32m+[m[32mimage_width: 2048[m
+[32m+[m[32mimage_height: 1536[m
+[32m+[m[32mpixel_format: yuyv[m
+[32m+[m[32mframerate: 3.5 #at 2048x1536 3.6hz is maximum on hw[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..049433f[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_head_cam.yaml[m
+[36m@@ -0,0 +1,4 @@[m
+[32m+[m[32mdiagnostics_name: head_cam[m
+[32m+[m[32mtopics: [/head_cam/camera_info][m
+[32m+[m[32mhz: 3.5[m
+[32m+[m[32mhzerror: 1[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..780d23e[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_sensorring_cam3d.yaml[m
+[36m@@ -0,0 +1,4 @@[m
+[32m+[m[32mdiagnostics_name: sensorring_cam3d[m
+[32m+[m[32mtopics: [/sensorring_cam3d/rgb/camera_info][m
+[32m+[m[32mhz: 30[m
+[32m+[m[32mhzerror: 5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..f967de7[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_down.yaml[m
+[36m@@ -0,0 +1,4 @@[m
+[32m+[m[32mdiagnostics_name: torso_cam3d_down[m
+[32m+[m[32mtopics: [/torso_cam3d_down/rgb/camera_info][m
+[32m+[m[32mhz: 30[m
+[32m+[m[32mhzerror: 5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..e6170fd[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_left.yaml[m
+[36m@@ -0,0 +1,4 @@[m
+[32m+[m[32mdiagnostics_name: torso_cam3d_left[m
+[32m+[m[32mtopics: [/torso_cam3d_left/rgb/camera_info][m
+[32m+[m[32mhz: 30[m
+[32m+[m[32mhzerror: 5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a507b6d[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/hz_monitor_torso_cam3d_right.yaml[m
+[36m@@ -0,0 +1,4 @@[m
+[32m+[m[32mdiagnostics_name: torso_cam3d_right[m
+[32m+[m[32mtopics: [/torso_cam3d_right/rgb/camera_info][m
+[32m+[m[32mhz: 30[m
+[32m+[m[32mhzerror: 5[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a8bed5e[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_head_cam.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster)[m
+[32m+[m[32m# int[m
+[32m+[m[32mrotation_mode: 1[m
+[32m+[m
+[32m+[m[32m# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg)[m
+[32m+[m[32m# double[m
+[32m+[m[32mrotation_angle: 0[m
+[32m+[m
+[32m+[m[32m# reference world coordinate frame with z-axis pointing upwards (= against gravity direction)[m
+[32m+[m[32m# string[m
+[32m+[m[32mreference_frame: base_link[m
+[32m+[m
+[32m+[m[32m# flip color image[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_color_image: true[m
+[32m+[m
+[32m+[m[32m# flip point cloud (usually unnecessary because tf takes care of this with original point cloud)[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_pointcloud: false[m
+[32m+[m
+[32m+[m[32m# display warning if transformation not available[m
+[32m+[m[32m# bool[m
+[32m+[m[32mdisplay_warnings: true[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a9fcb86[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_sensorring_cam3d.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster)[m
+[32m+[m[32m# int[m
+[32m+[m[32mrotation_mode: 1[m
+[32m+[m
+[32m+[m[32m# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg)[m
+[32m+[m[32m# double[m
+[32m+[m[32mrotation_angle: 0[m
+[32m+[m
+[32m+[m[32m# reference world coordinate frame with z-axis pointing upwards (= against gravity direction)[m
+[32m+[m[32m# string[m
+[32m+[m[32mreference_frame: base_link[m
+[32m+[m
+[32m+[m[32m# flip color image[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_color_image: true[m
+[32m+[m
+[32m+[m[32m# flip point cloud (usually unnecessary because tf takes care of this with original point cloud)[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_pointcloud: true[m
+[32m+[m
+[32m+[m[32m# display warning if transformation not available[m
+[32m+[m[32m# bool[m
+[32m+[m[32mdisplay_warnings: false[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a9fcb86[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_down.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster)[m
+[32m+[m[32m# int[m
+[32m+[m[32mrotation_mode: 1[m
+[32m+[m
+[32m+[m[32m# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg)[m
+[32m+[m[32m# double[m
+[32m+[m[32mrotation_angle: 0[m
+[32m+[m
+[32m+[m[32m# reference world coordinate frame with z-axis pointing upwards (= against gravity direction)[m
+[32m+[m[32m# string[m
+[32m+[m[32mreference_frame: base_link[m
+[32m+[m
+[32m+[m[32m# flip color image[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_color_image: true[m
+[32m+[m
+[32m+[m[32m# flip point cloud (usually unnecessary because tf takes care of this with original point cloud)[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_pointcloud: true[m
+[32m+[m
+[32m+[m[32m# display warning if transformation not available[m
+[32m+[m[32m# bool[m
+[32m+[m[32mdisplay_warnings: false[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a9fcb86[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_left.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster)[m
+[32m+[m[32m# int[m
+[32m+[m[32mrotation_mode: 1[m
+[32m+[m
+[32m+[m[32m# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg)[m
+[32m+[m[32m# double[m
+[32m+[m[32mrotation_angle: 0[m
+[32m+[m
+[32m+[m[32m# reference world coordinate frame with z-axis pointing upwards (= against gravity direction)[m
+[32m+[m[32m# string[m
+[32m+[m[32mreference_frame: base_link[m
+[32m+[m
+[32m+[m[32m# flip color image[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_color_image: true[m
+[32m+[m
+[32m+[m[32m# flip point cloud (usually unnecessary because tf takes care of this with original point cloud)[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_pointcloud: true[m
+[32m+[m
+[32m+[m[32m# display warning if transformation not available[m
+[32m+[m[32m# bool[m
+[32m+[m[32mdisplay_warnings: false[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a9fcb86[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/image_flip_params_torso_cam3d_right.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# rotation mode (0=fixed angle as defined by rotation_angle, 1=automatic upright rotation against gravity using reference coordinate frame with upwards directed z-axis, 2=as 1 but image rotation only in 90deg steps -> faster)[m
+[32m+[m[32m# int[m
+[32m+[m[32mrotation_mode: 1[m
+[32m+[m
+[32m+[m[32m# image rotation [in deg] (especially efficient with 0, 90, 180, 270 deg)[m
+[32m+[m[32m# double[m
+[32m+[m[32mrotation_angle: 0[m
+[32m+[m
+[32m+[m[32m# reference world coordinate frame with z-axis pointing upwards (= against gravity direction)[m
+[32m+[m[32m# string[m
+[32m+[m[32mreference_frame: base_link[m
+[32m+[m
+[32m+[m[32m# flip color image[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_color_image: true[m
+[32m+[m
+[32m+[m[32m# flip point cloud (usually unnecessary because tf takes care of this with original point cloud)[m
+[32m+[m[32m# bool[m
+[32m+[m[32mflip_pointcloud: true[m
+[32m+[m
+[32m+[m[32m# display warning if transformation not available[m
+[32m+[m[32m# bool[m
+[32m+[m[32mdisplay_warnings: false[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..337d64a[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/joint_state_publisher.yaml[m
+[36m@@ -0,0 +1,2 @@[m
+[32m+[m[32mrate: 100 #Hz[m
+[32m+[m[32msource_list: [/base/joint_states, /sensorring/joint_states][m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..f07d1f5[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/joy.yaml[m
+[36m@@ -0,0 +1,2 @@[m
+[32m+[m[32mdev: /dev/joypad[m
+[32m+[m[32mdeadzone: 0.12[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..e380603[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_base.yaml[m
+[36m@@ -0,0 +1,9 @@[m
+[32m+[m[32mdevicestring: /dev/ttyLED[m
+[32m+[m[32mdevicedriver: stageprofi[m
+[32m+[m[32mbaudrate: 38400[m
+[32m+[m[32mnum_leds: 3[m
+[32m+[m[32minvert_output: false[m
+[32m+[m[32mpubmarker: true[m
+[32m+[m[32mmarker_frame: /torso_base_link # marker will be publised at [0.5,0,0] with respect to marker_frame[m
+[32m+[m[32mstartup_color: [0.0, 1.0, 0.5, 0.4] #rgba value[m
+[32m+[m[32mstartup_mode: Static #possible values: None, Static, Breath, BreathColor, Flash, FadeColor[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..32950a6[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/light_torso.yaml[m
+[36m@@ -0,0 +1,10 @@[m
+[32m+[m[32mdevicestring: /dev/ttyLED[m
+[32m+[m[32mdevicedriver: stageprofi[m
+[32m+[m[32mbaudrate: 38400[m
+[32m+[m[32mnum_leds: 72[m
+[32m+[m[32mled_offset: 5[m
+[32m+[m[32minvert_output: false[m
+[32m+[m[32mpubmarker: true[m
+[32m+[m[32mmarker_frame: /torso_center_link # marker will be publised at [0.5,0,0] with respect to marker_frame[m
+[32m+[m[32mstartup_color: [0.0, 1.0, 0.5, 0.4] #rgba value[m
+[32m+[m[32mstartup_mode: Breath #possible values: None, Static, Breath, BreathColor, Flash, FadeColor[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..3739a62[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/local_costmap_params.yaml[m
+[36m@@ -0,0 +1,65 @@[m
+[32m+[m[32m# global information[m
+[32m+[m[32mglobal_frame: /base_link[m
+[32m+[m[32mrobot_base_frame: /base_footprint[m
+[32m+[m[32mupdate_frequency: 5.0[m
+[32m+[m[32mpublish_frequency: 5.0[m
+[32m+[m
+[32m+[m[32m# local map settings[m
+[32m+[m[32mstatic_map: false[m
+[32m+[m[32mrolling_window: true[m
+[32m+[m[32mwidth: 5.0[m
+[32m+[m[32mheight: 5.0[m
+[32m+[m[32mresolution: 0.07[m
+[32m+[m
+[32m+[m[32m# footprint and range[m
+[32m+[m[32mfootprint: [[0.43, 0.35], [0.43, -0.35], [-0.43, -0.35],[-0.43, 0.35]] #[m][m
+[32m+[m[32mfootprint_padding: 0.02 #[m][m
+[32m+[m
+[32m+[m[32m#layers[m
+[32m+[m[32mplugins:[m
+[32m+[m
+[32m+[m[32m# The obstacle layer tracks the obstacles as read by the sensor data. The ObstacleCostmapPlugin marks and[m
+[32m+[m[32m# raytraces obstacles in two dimensions, while the VoxelCostmapPlugin does so in three dimensions.[m
+[32m+[m[32m- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}[m
+[32m+[m
+[32m+[m
+[32m+[m[32mobstacle_layer:[m
+[32m+[m
+[32m+[m[32m # Definition of the sensors/observation sources[m
+[32m+[m[32m observation_sources: laser_scan_front laser_scan_left laser_scan_right[m
+[32m+[m
+[32m+[m[32m # Parameters of the source: laser_scan_front[m
+[32m+[m[32m laser_scan_front:[m
+[32m+[m[32m sensor_frame: base_laser_front_link # The frame of the origin of the sensor, default: ""[m
+[32m+[m[32m topic: /base_laser_front/scan # The topic on which sensor data comes in for this source, default: source_name[m
+[32m+[m[32m data_type: LaserScan # The data type associated with the topic, default: "PointCloud"[m
+[32m+[m[32m marking: true # Whether or not this observation is used to mark obstacles, default: true[m
+[32m+[m[32m clearing: true # Whether or not this observation is used to clear out freespace, default: false[m
+[32m+[m
+[32m+[m[32m # Parameters of the source: laser_scan_rear[m
+[32m+[m[32m laser_scan_left:[m
+[32m+[m[32m sensor_frame: base_laser_left_link # The frame of the origin of the sensor, default: ""[m
+[32m+[m[32m topic: /base_laser_left/scan # The topic on which sensor data comes in for this source, default: source_name[m
+[32m+[m[32m data_type: LaserScan # The data type associated with the topic, default: "PointCloud"[m
+[32m+[m[32m marking: true # Whether or not this observation is used to mark obstacles, default: true[m
+[32m+[m[32m clearing: true # Whether or not this observation is used to clear out freespace, default: false[m
+[32m+[m
+[32m+[m[32m # Parameters of the source: laser_scan_front[m
+[32m+[m[32m laser_scan_right:[m
+[32m+[m[32m sensor_frame: base_laser_right_link # The frame of the origin of the sensor, default: ""[m
+[32m+[m[32m topic: /base_laser_right/scan # The topic on which sensor data comes in for this source, default: source_name[m
+[32m+[m[32m data_type: LaserScan # The data type associated with the topic, default: "PointCloud"[m
+[32m+[m[32m marking: true # Whether or not this observation is used to mark obstacles, default: true[m
+[32m+[m[32m clearing: true # Whether or not this observation is used to clear out freespace, default: false[m
+[32m+[m
+[32m+[m[32m # The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters[m
+[32m+[m[32m obstacle_range: 3.0[m
+[32m+[m
+[32m+[m[32m # The default range in meters at which to raytrace out obstacles from the map using sensor data[m
+[32m+[m[32m raytrace_range: 3.0[m
+[32m+[m
+[32m+[m[32m # What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world[m
+[32m+[m[32m map_type: costmap[m
+[32m+[m
+[32m+[m[32m # The maximum height in meters of a sensor reading considered valid.[m
+[32m+[m[32m max_obstacle_height: 2.0[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..4ada7cf[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/ntp_monitor.yaml[m
+[36m@@ -0,0 +1,2 @@[m
+[32m+[m[32moffset: 5000 #us[m
+[32m+[m[32merror_offset: 25000 #us[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_b1.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_h1.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..78df360[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_localhost.yaml[m
+[36m@@ -0,0 +1,3 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_s1.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t1.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t2.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..cf87289[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/pc_monitor_t3.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mcheck_core_temps: False[m
+[32m+[m[32mcheck_ipmi_tool: False[m
+[32m+[m[32menforce_clock_speed: False[m
+[32m+[m[32mnum_cores: 4[m
+[32m+[m[32mload1_threshold: 10[m
+[32m+[m[32mload5_threshold: 10[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..be78cb8[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/scan_unifier_config.yaml[m
+[36m@@ -0,0 +1,3 @@[m
+[32m+[m[32m#Scan_unifier_config-parameters[m
+[32m+[m
+[32m+[m[32minput_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"][m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..fa89d54[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_controller.yaml[m
+[36m@@ -0,0 +1,51 @@[m
+[32m+[m[32m#all[m
+[32m+[m[32mjoint_names: [sensorring_joint][m
+[32m+[m
+[32m+[m[32m## control_mode_adapter[m
+[32m+[m[32mmax_command_silence: 0.5[m
+[32m+[m
+[32m+[m[32m## joint_state_controller[m
+[32m+[m[32mjoint_state_controller:[m
+[32m+[m[32m type: joint_state_controller/JointStateController[m
+[32m+[m[32m publish_rate: 50[m
+[32m+[m
+[32m+[m[32m## joint trajectory controller[m
+[32m+[m[32mjoint_trajectory_controller:[m
+[32m+[m[32m type: position_controllers/JointTrajectoryController[m
+[32m+[m[32m joints:[m
+[32m+[m[32m - sensorring_joint[m
+[32m+[m[32m constraints:[m
+[32m+[m[32m goal_time: 0.6[m
+[32m+[m[32m stopped_velocity_tolerance: 0.05[m
+[32m+[m[32m sensorring_joint: {trajectory: 0.1, goal: 0.1}[m
+[32m+[m[32m stop_trajectory_duration: 0.5[m
+[32m+[m[32m state_publish_rate: 25[m
+[32m+[m[32m action_monitor_rate: 10[m
+[32m+[m[32m required_drive_mode: 7[m
+[32m+[m
+[32m+[m
+[32m+[m[32m## position controller[m
+[32m+[m[32mjoint_group_position_controller:[m
+[32m+[m[32m type: position_controllers/JointGroupPositionController[m
+[32m+[m[32m joints:[m
+[32m+[m[32m - sensorring_joint[m
+[32m+[m[32m required_drive_mode: 1[m
+[32m+[m
+[32m+[m[32msensorring_joint_position_controller:[m
+[32m+[m[32m type: position_controllers/JointPositionController[m
+[32m+[m[32m joint: sensorring_joint[m
+[32m+[m[32m required_drive_mode: 1[m
+[32m+[m
+[32m+[m
+[32m+[m[32m### velocity controller[m
+[32m+[m[32m### velicty controllers are not to be used with Elmo Devices as JointLimits are not considered![m
+[32m+[m[32m#joint_group_velocity_controller:[m
+[32m+[m[32m# type: velocity_controllers/JointGroupVelocityController[m
+[32m+[m[32m# joints:[m
+[32m+[m[32m# - sensorring_joint[m
+[32m+[m[32m# required_drive_mode: 3[m
+[32m+[m[32m#[m
+[32m+[m[32m#sensorring_joint_velocity_controller:[m
+[32m+[m[32m# type: velocity_controllers/JointVelocityController[m
+[32m+[m[32m# joint: sensorring_joint[m
+[32m+[m[32m# required_drive_mode: 3[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..604d329[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/sensorring_driver.yaml[m
+[36m@@ -0,0 +1,22 @@[m
+[32m+[m[32msync:[m
+[32m+[m[32m interval_ms: 10[m
+[32m+[m[32m overflow: 0[m
+[32m+[m
+[32m+[m[32mdefaults:[m
+[32m+[m[32m eds_pkg: unity_hardware_config[m
+[32m+[m[32m eds_file: "robots/common/Elmo.dcf"[m
+[32m+[m[32m vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states[m
+[32m+[m[32m motor_layer:[m
+[32m+[m[32m switching_state: 4 # switched on - stop controller before switching modes[m
+[32m+[m
+[32m+[m[32mnodes:[m
+[32m+[m[32m - name: sensorring_joint[m
+[32m+[m[32m id: 73[m
+[32m+[m[32m #publish: ["60C1sub1"] #trajectory[m
+[32m+[m[32m #publish: ["60FF"] #velocity[m
+[32m+[m[32m dcf_overlay: # "ObjectID": "ParameterValue" (both as strings)[m
+[32m+[m[32m "6083": "300000" # profile acceleration, mgrad/sec^2[m
+[32m+[m[32m "6084": "300000" # profile deceleration, mgrad/sec^2[m
+[32m+[m[32m "60C5": "300000" # max acceleration, mgrad/sec^2[m
+[32m+[m[32m "60C6": "1000000" # max deceleration, mgrad/sec^2[m
+[32m+[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..6321ef2[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/sound.yaml[m
+[36m@@ -0,0 +1,6 @@[m
+[32m+[m[32mmode: "cepstral"[m
+[32m+[m[32mcepstral_voice: "David"[m
+[32m+[m[32mcepstral_settings: "\"speech/rate=170\""[m
+[32m+[m[32mfade_volume: true #fade volume on play and on track transition[m
+[32m+[m[32mfade_duration: 1.0 #time till full volume or mute is reached[m
+[32m+[m[32m #(complete fade time between two tracks = 2*fade_duration)[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..7114563[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/teleop.yaml[m
+[36m@@ -0,0 +1,59 @@[m
+[32m+[m[32m##########[m
+[32m+[m[32m# common params[m
+[32m+[m[32mrun_factor: 2.0[m
+[32m+[m[32mapply_ramp: false[m
+[32m+[m[32mjoy_num_buttons: 12[m
+[32m+[m[32mjoy_num_axes: 6[m
+[32m+[m[32mjoy_num_modes: 4[m
+[32m+[m[32mmode_switch_button: 8[m
+[32m+[m
+[32m+[m[32menable_light: true[m
+[32m+[m[32mlight_action_name: /light_torso/set_light[m
+[32m+[m[32menable_sound: true[m
+[32m+[m[32msound_action_name: /sound/say[m
+[32m+[m
+[32m+[m[32m# axes[m
+[32m+[m[32maxis_vx: 1[m
+[32m+[m[32maxis_vy: 0[m
+[32m+[m[32maxis_vz: 5[m
+[32m+[m[32maxis_roll: 4[m
+[32m+[m[32maxis_pitch: 3[m
+[32m+[m[32maxis_yaw: 2[m
+[32m+[m
+[32m+[m[32m# buttons[m
+[32m+[m[32mdeadman_button: 5[m
+[32m+[m[32msafety_button: 4[m
+[32m+[m[32minit_button: 9[m
+[32m+[m
+[32m+[m[32m#mode1: Base[m
+[32m+[m[32mrun_button: 7[m
+[32m+[m
+[32m+[m[32m#mode2: Trajectory controller[m
+[32m+[m[32mtorso_sss_default_target_button: 1[m
+[32m+[m
+[32m+[m[32m#mode3: Velocity group controller[m
+[32m+[m[32mtorso_joint1_button: 0[m
+[32m+[m
+[32m+[m[32mright_indicator_button: 7[m
+[32m+[m[32mleft_indicator_button: 6[m
+[32m+[m[32mup_down_button: 5[m
+[32m+[m[32mright_left_button: 4[m
+[32m+[m
+[32m+[m[32m#mode4: Twist controller[m
+[32m+[m[32mtorso_twist_button: 1[m
+[32m+[m
+[32m+[m[32mcomponents: {[m
+[32m+[m[32m base: {[m
+[32m+[m[32m twist_topic_name: '/base/twist_mux/command_teleop_joy',[m
+[32m+[m[32m twist_safety_topic_name: '/base/collision_velocity_filter/command',[m
+[32m+[m[32m twist_max_velocity: [0.3, 0.2, 0.3],[m
+[32m+[m[32m twist_max_acc: [0.5, 0.5, 0.7][m
+[32m+[m[32m },[m
+[32m+[m[32m sensorring: {[m
+[32m+[m[32m sss_default_target: "home",[m
+[32m+[m[32m velocity_topic_name: "/sensorring/joint_group_velocity_controller/command",[m
+[32m+[m[32m joint_velocity: [0.05, 0.05],[m
+[32m+[m[32m twist_topic_name: '/sensorring/twist_controller/command_twist',[m
+[32m+[m[32m twist_max_velocity: [0.3, 0.2, 0.3, 0.3, 0.2, 0.3][m
+[32m+[m[32m }[m
+[32m+[m[32m}[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..d61b1da[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_locks.yaml[m
+[36m@@ -0,0 +1,26 @@[m
+[32m+[m[32m# Locks to stop the twist inputs.[m
+[32m+[m[32m# For each lock:[m
+[32m+[m[32m# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!![m[41m [m
+[32m+[m[32m# - timeout : == 0.0 -> not used[m
+[32m+[m[32m# > 0.0 -> the lock is supposed to published at a certain frequency in order[m
+[32m+[m[32m# to detect that the publisher is alive; the timeout in seconds allows[m
+[32m+[m[32m# to detect that, and if the publisher dies we will enable the lock[m
+[32m+[m[32m# - priority: priority in the range [0, 255], so all the topics with priority lower than it[m
+[32m+[m[32m# will be stopped/disabled[m
+[32m+[m
+[32m+[m[32mlocks:[m
+[32m+[m[32m-[m
+[32m+[m[32m name : pause_navigation[m
+[32m+[m[32m topic : twist_mux/locks/pause_navigation[m
+[32m+[m[32m timeout : 0.0[m
+[32m+[m[32m priority: 21[m
+[32m+[m[32m-[m
+[32m+[m[32m name : pause_teleop[m[41m [m
+[32m+[m[32m topic : twist_mux/locks/pause_teleop[m
+[32m+[m[32m timeout : 0.0[m
+[32m+[m[32m priority: 101[m
+[32m+[m[32m-[m
+[32m+[m[32m name : pause_all[m[41m [m
+[32m+[m[32m topic : twist_mux/locks/pause_all[m
+[32m+[m[32m timeout : 0.0[m
+[32m+[m[32m priority: 255[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..9704c12[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/twist_mux_topics.yaml[m
+[36m@@ -0,0 +1,43 @@[m
+[32m+[m[32m# Input topics handled/muxed.[m
+[32m+[m[32m# For each topic:[m
+[32m+[m[32m# - name : name identifier to select the topic[m
+[32m+[m[32m# - topic : input topic of geometry_msgs::Twist type[m
+[32m+[m[32m# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead[m
+[32m+[m[32m# - priority: priority in the range [0, 255]; the higher the more priority over other topics[m
+[32m+[m
+[32m+[m[32mtopics:[m
+[32m+[m[32m-[m
+[32m+[m[32m name : collision_velocity_filter[m
+[32m+[m[32m topic : twist_mux/command_safe[m
+[32m+[m[32m timeout : 0.25[m
+[32m+[m[32m priority: 10[m
+[32m+[m[32m-[m
+[32m+[m[32m name : navigation[m
+[32m+[m[32m topic : twist_mux/command_navigation[m
+[32m+[m[32m timeout : 0.25[m
+[32m+[m[32m priority: 20[m
+[32m+[m[32m-[m
+[32m+[m[32m name : syncmm # cob_twist_controller[m
+[32m+[m[32m topic : twist_mux/command_syncmm[m
+[32m+[m[32m timeout : 0.5[m
+[32m+[m[32m priority: 60[m
+[32m+[m[32m-[m
+[32m+[m[32m name : script_server[m
+[32m+[m[32m topic : twist_mux/command_script_server[m
+[32m+[m[32m timeout : 0.5[m
+[32m+[m[32m priority: 70[m
+[32m+[m[32m-[m
+[32m+[m[32m name : teleop_keyboard[m
+[32m+[m[32m topic : twist_mux/command_teleop_keyboard[m
+[32m+[m[32m timeout : 0.5[m
+[32m+[m[32m priority: 80[m
+[32m+[m[32m-[m
+[32m+[m[32m name : teleop_android[m
+[32m+[m[32m topic : twist_mux/command_teleop_android[m
+[32m+[m[32m timeout : 0.5[m
+[32m+[m[32m priority: 90[m
+[32m+[m[32m-[m
+[32m+[m[32m name : teleop_joystick[m
+[32m+[m[32m topic : twist_mux/command_teleop_joy[m
+[32m+[m[32m timeout : 0.25[m
+[32m+[m[32m priority: 100[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..8a0ff13[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/config/velocity_smoother.yaml[m
+[36m@@ -0,0 +1,23 @@[m
+[32m+[m[32m# Example configuration:[m
+[32m+[m[32m# - velocity limits are around a 10% above the physical limits[m
+[32m+[m[32m# - acceleration limits are just low enough to avoid jerking[m
+[32m+[m
+[32m+[m[32m# Mandatory parameters[m
+[32m+[m[32mspeed_lim_vx: 1.2[m
+[32m+[m[32mspeed_lim_vy: 1.0[m
+[32m+[m[32mspeed_lim_w: 1.2[m
+[32m+[m
+[32m+[m[32maccel_lim_vx: 0.5[m
+[32m+[m[32maccel_lim_vy: 0.5[m
+[32m+[m[32maccel_lim_w: 0.5[m
+[32m+[m
+[32m+[m[32m# Optional parameters[m
+[32m+[m[32mfrequency: 50.0[m
+[32m+[m[32mdecel_factor: 1.5 #used if zero velocity is received or goal velocity is far away from current velocity[m
+[32m+[m[32mdecel_factor_safe: 2.5 #used if no velocity commands received (eg. no deadman on joystick)[m
+[32m+[m
+[32m+[m[32m# Robot velocity feedback type:[m
+[32m+[m[32m# 0 - none[m
+[32m+[m[32m# 1 - odometry[m
+[32m+[m[32m# 2 - end robot commands[m
+[32m+[m[32mrobot_feedback: 1[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..8f90da0[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/calibration_default.urdf.xacro[m
+[36m@@ -0,0 +1,99 @@[m
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+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..a14f580[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/cob4-19.urdf.xacro[m
+[36m@@ -0,0 +1,91 @@[m
+[32m+[m[32m[m
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+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro[m
+[1mnew file mode 100644[m
+[1mindex 0000000..74d9423[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/cob4-19_tmp/urdf/properties.urdf.xacro[m
+[36m@@ -0,0 +1,102 @@[m
+[32m+[m[32m[m
+[32m+[m[32m[m
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+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m [32m[m
+[32m+[m[32m[m
+[1mdiff --git a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml[m
+[1mindex 7323d80..3b43042 100644[m
+[1m--- a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml[m
+[1m+++ b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml[m
+[36m@@ -1,2 +1,2 @@[m
+ rate: 100 #Hz[m
+[31m-source_list: [/base/joint_states][m
+[32m+[m[32msource_list: [base/joint_states][m
+[1mdiff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..89a0739[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../raw3/config/raw3_base_controller.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml[m
+[1mnew file mode 100644[m
+[1mindex 0000000..bd5152b[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml[m
+[36m@@ -0,0 +1,7 @@[m
+[32m+[m[32mscan_filter_chain:[m
+[32m+[m[32m - name: range[m
+[32m+[m[32m type: LaserScanRangeFilter[m
+[32m+[m[32m params:[m
+[32m+[m[32m use_message_range_limits: true[m
+[32m+[m[32m upper_threshold: 29.5[m
+[32m+[m[32m upper_replacement_value: 29.5[m
+[1mdiff --git a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml[m
+[1mindex a13950e..db139f3 100644[m
+[1m--- a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml[m
+[1m+++ b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml[m
+[36m@@ -1,2 +1,2 @@[m
+ rate: 100 #Hz[m
+[31m-source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states][m
+[32m+[m[32msource_list: [base/joint_states, arm/joint_states, torso/joint_states][m
+[1mdiff --git a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro[m
+[1mindex 8ddffad..3895af3 100644[m
+[1m--- a/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro[m
+[1m+++ b/cob_hardware_config/robots/raw3-1/urdf/calibration_default.urdf.xacro[m
+[36m@@ -6,7 +6,7 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[36m@@ -14,7 +14,7 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro[m
+[1mindex 2362e46..3ba0b09 100644[m
+[1m--- a/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro[m
+[1m+++ b/cob_hardware_config/robots/raw3-1/urdf/raw3-1.urdf.xacro[m
+[36m@@ -38,20 +38,20 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[31m- [m
+[31m- [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+ [m
+[31m- [m
+[31m- [m
+[31m- [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+ [m
+[31m- [m
+[31m- [m
+[31m- [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+ [m
+[31m- [m
+[31m- [m
+[31m- [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+[32m+[m[32m [m
+ [m
+ [m
+[1mdiff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml[m
+[1mnew file mode 120000[m
+[1mindex 0000000..89a0739[m
+[1m--- /dev/null[m
+[1m+++ b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml[m
+[36m@@ -0,0 +1 @@[m
+[32m+[m[32m../../raw3/config/raw3_base_controller.yaml[m
+\ No newline at end of file[m
+[1mdiff --git a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml[m
+[1mindex 7323d80..3b43042 100644[m
+[1m--- a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml[m
+[1m+++ b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml[m
+[36m@@ -1,2 +1,2 @@[m
+ rate: 100 #Hz[m
+[31m-source_list: [/base/joint_states][m
+[32m+[m[32msource_list: [base/joint_states][m
+[1mdiff --git a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro[m
+[1mindex a233752..88e9f06 100644[m
+[1m--- a/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro[m
+[1m+++ b/cob_hardware_config/robots/raw3-3/urdf/calibration_default.urdf.xacro[m
+[36m@@ -6,7 +6,7 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[36m@@ -14,7 +14,7 @@[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[1mdiff --git a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml[m
+[1mindex 3ac1012..bd5152b 100644[m
+[1m--- a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml[m
+[1m+++ b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml[m
+[36m@@ -2,6 +2,6 @@[m [mscan_filter_chain:[m
+ - name: range[m
+ type: LaserScanRangeFilter[m
+ params:[m
+[31m- use_message_range_limits: false[m
+[31m- upper_threshold: 10.0[m
+[31m- upper_replacement_value: 10.0[m
+[32m+[m[32m use_message_range_limits: true[m
+[32m+[m[32m upper_threshold: 29.5[m
+[32m+[m[32m upper_replacement_value: 29.5[m
+[1mdiff --git a/cob_hardware_config/upload_robot.launch b/cob_hardware_config/upload_robot.launch[m
+[1mindex f8f79aa..8f81dc7 100644[m
+[1m--- a/cob_hardware_config/upload_robot.launch[m
+[1m+++ b/cob_hardware_config/upload_robot.launch[m
+[36m@@ -2,9 +2,10 @@[m
+ [m
+ [m
+ [m
+[32m+[m [32m[m
+ [m
+ [m
+ [m
+[31m- [m
+[32m+[m [32m[m
+ [m
+ [m
diff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/components/cob4_base.launch
index bedfbac8e..d496dc1c1 100644
--- a/cob_bringup/components/cob4_base.launch
+++ b/cob_bringup/components/cob4_base.launch
@@ -5,6 +5,7 @@
+
@@ -14,9 +15,9 @@
-
+
diff --git a/cob_bringup/components/raw3_base.launch b/cob_bringup/components/raw3_base.launch
index 65ea310d7..2808b69c4 100644
--- a/cob_bringup/components/raw3_base.launch
+++ b/cob_bringup/components/raw3_base.launch
@@ -5,6 +5,7 @@
+
@@ -19,6 +20,7 @@
+
diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/components/ros_control_base.launch
index 36ada43dd..ba8d37a57 100644
--- a/cob_bringup/components/ros_control_base.launch
+++ b/cob_bringup/components/ros_control_base.launch
@@ -3,6 +3,7 @@
+
@@ -37,9 +38,18 @@
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/cob_bringup/robot.launch b/cob_bringup/robot.launch
index 0e911fcee..2c3c12a6e 100644
--- a/cob_bringup/robot.launch
+++ b/cob_bringup/robot.launch
@@ -1,12 +1,16 @@
-
+
+
+
+
+
diff --git a/cob_bringup/robots/cob4-18.launch b/cob_bringup/robots/cob4-18.launch
index 0bbd51ca3..671d45d5e 100644
--- a/cob_bringup/robots/cob4-18.launch
+++ b/cob_bringup/robots/cob4-18.launch
@@ -1,11 +1,17 @@
+
+
-
+
+
+
+
+
diff --git a/cob_bringup/robots/cob4-18.xml b/cob_bringup/robots/cob4-18.xml
index d4242f253..ee898545f 100644
--- a/cob_bringup/robots/cob4-18.xml
+++ b/cob_bringup/robots/cob4-18.xml
@@ -1,11 +1,11 @@
-
+
@@ -56,6 +56,7 @@
+
diff --git a/cob_bringup/robots/raw3-1.launch b/cob_bringup/robots/raw3-1.launch
index 120c73ba7..c28d524c7 100644
--- a/cob_bringup/robots/raw3-1.launch
+++ b/cob_bringup/robots/raw3-1.launch
@@ -1,13 +1,18 @@
+
+
-
-
-
+
+
+
+
+
+
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index 0dff1556a..c884982a3 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -9,6 +9,7 @@
+
@@ -51,6 +52,7 @@
+
diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch
index b22fe8e53..712de5669 100644
--- a/cob_bringup/robots/raw3-3.launch
+++ b/cob_bringup/robots/raw3-3.launch
@@ -1,10 +1,14 @@
+
+
+
+
-
+
\ No newline at end of file
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 68fe05825..d4e4449a9 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -8,6 +8,7 @@
+
@@ -54,6 +55,7 @@
+
diff --git a/cob_bringup/tools/base_collision_observer.launch b/cob_bringup/tools/base_collision_observer.launch
index 96b76585d..735228cc1 100644
--- a/cob_bringup/tools/base_collision_observer.launch
+++ b/cob_bringup/tools/base_collision_observer.launch
@@ -7,10 +7,10 @@
-
+
-
-
+
+
diff --git a/cob_bringup/tools/battery_monitor.launch b/cob_bringup/tools/battery_monitor.launch
index 20e49a83b..850d3bfc4 100644
--- a/cob_bringup/tools/battery_monitor.launch
+++ b/cob_bringup/tools/battery_monitor.launch
@@ -7,7 +7,6 @@
-
diff --git a/cob_bringup/tools/robot_state_publisher.launch b/cob_bringup/tools/robot_state_publisher.launch
index 0773a17eb..6ec8599ab 100644
--- a/cob_bringup/tools/robot_state_publisher.launch
+++ b/cob_bringup/tools/robot_state_publisher.launch
@@ -3,12 +3,13 @@
+
-
+
+
+
-
-
diff --git a/cob_hardware_config/robots/cob4-18/config/base_controller.yaml b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml
new file mode 120000
index 000000000..6fec99be8
--- /dev/null
+++ b/cob_hardware_config/robots/cob4-18/config/base_controller.yaml
@@ -0,0 +1 @@
+../../cob4/config/cob4_base_controller.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml
new file mode 100644
index 000000000..bd5152b72
--- /dev/null
+++ b/cob_hardware_config/robots/cob4-18/config/base_laser_filter.yaml
@@ -0,0 +1,7 @@
+scan_filter_chain:
+ - name: range
+ type: LaserScanRangeFilter
+ params:
+ use_message_range_limits: true
+ upper_threshold: 29.5
+ upper_replacement_value: 29.5
diff --git a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml
index 3b850eaab..9fb44b5de 100644
--- a/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml
+++ b/cob_hardware_config/robots/cob4-18/config/joint_state_publisher.yaml
@@ -1,2 +1,2 @@
rate: 100 #Hz
-source_list: [/base/joint_states]
\ No newline at end of file
+source_list: [base/joint_states]
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml
index 7323d80b6..3b430422c 100644
--- a/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml
+++ b/cob_hardware_config/robots/cob4-3/config/joint_state_publisher.yaml
@@ -1,2 +1,2 @@
rate: 100 #Hz
-source_list: [/base/joint_states]
+source_list: [base/joint_states]
diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml
new file mode 120000
index 000000000..89a0739ee
--- /dev/null
+++ b/cob_hardware_config/robots/raw3-1/config/base_controller.yaml
@@ -0,0 +1 @@
+../../raw3/config/raw3_base_controller.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml
new file mode 100644
index 000000000..bd5152b72
--- /dev/null
+++ b/cob_hardware_config/robots/raw3-1/config/base_laser_filter.yaml
@@ -0,0 +1,7 @@
+scan_filter_chain:
+ - name: range
+ type: LaserScanRangeFilter
+ params:
+ use_message_range_limits: true
+ upper_threshold: 29.5
+ upper_replacement_value: 29.5
diff --git a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml
index a13950e1e..db139f369 100644
--- a/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml
+++ b/cob_hardware_config/robots/raw3-1/config/joint_state_publisher.yaml
@@ -1,2 +1,2 @@
rate: 100 #Hz
-source_list: [/base/joint_states, /arm/joint_states, /torso/joint_states]
+source_list: [base/joint_states, arm/joint_states, torso/joint_states]
diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml
new file mode 120000
index 000000000..89a0739ee
--- /dev/null
+++ b/cob_hardware_config/robots/raw3-3/config/base_controller.yaml
@@ -0,0 +1 @@
+../../raw3/config/raw3_base_controller.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml
index 7323d80b6..3b430422c 100644
--- a/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml
+++ b/cob_hardware_config/robots/raw3-3/config/joint_state_publisher.yaml
@@ -1,2 +1,2 @@
rate: 100 #Hz
-source_list: [/base/joint_states]
+source_list: [base/joint_states]
diff --git a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml
index 3ac10129f..bd5152b72 100644
--- a/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml
+++ b/cob_hardware_config/robots/raw3/config/scan_unifier_filter.yaml
@@ -2,6 +2,6 @@ scan_filter_chain:
- name: range
type: LaserScanRangeFilter
params:
- use_message_range_limits: false
- upper_threshold: 10.0
- upper_replacement_value: 10.0
+ use_message_range_limits: true
+ upper_threshold: 29.5
+ upper_replacement_value: 29.5
diff --git a/cob_hardware_config/upload_robot.launch b/cob_hardware_config/upload_robot.launch
index f8f79aa36..8f81dc75b 100644
--- a/cob_hardware_config/upload_robot.launch
+++ b/cob_hardware_config/upload_robot.launch
@@ -2,9 +2,10 @@
+
-
+