The cob_driver stack includes packages that provide access to the Care-O-bot hardware over ROS messages and services. E.g. for mobile base, arm, camera_sensors, scanners, etc...

The cob_extern stack contains third party libraries needed for operating Care-O-bot. The packages are downloaded from the manufactorers website and not changed in any way.

The cob_common stack hosts common packages that are used within the Care-O-bot repository. E.g. utility packages or common message and service definitions etc. Also the urdf desciption of the robot…

The cob_apps stack provides example applications, mainly for testing the Care-O-bot hardware drivers.

The cob_simulation stack includes packages to work with Care-O-bot within simulation environments, e.g. gazebo.