Remote control
Fig. 5 Care-o-bot 4 remote control
Besides offering standard remote control functions for Care-O-bot 4, we have modified its remote control (depicted in Fig. 5) so that it can be used to trigger a number of pre-programmed demonstrations. For this to work, the robot’s bringup module has to be active, which is usually a part of Starting up:
$ roslaunch uh_cob bringup.launch
Any of the following buttons, if pressed together with the so-called dead man switch, will trigger a demonstration. The dead man switch for our custom demonstrations and behaviours is upper left shoulder.
Note
The dead man switch is different from the one that enables standard remote control functions. It is in the same position as the dead man switch on the Remote control for Fetch.
If the same combination is pressed again, the currently active behaviour will be cancelled and the robot is put back into a safe default position. Physical behaviours involving robot movements cannot be run in parallel and therefore will not be triggered if such a behaviour is already active. Other behaviours might run in parallel although for example individual utterances might get delayed.