Documentation of Skin Applications

Skin Driver

The skin_driver node communicates with the Bosch Skin hardware via a Xdimax Sub20 Device.

Skin Visualization and Configuration utilities

The skin_dashboard utility visualizes the skin's current status graphically.

Using the skin_config utility some parameters of the Skin can be easily reconfigured during runtime.

Skin Demos and Applications

The skin_demo_movebase package is a demo which uses skin patches to move the base of the robot. It allows humans e.g. to touchlessly push the PR2 robot away or move it around in the lab.

The packages skin_safe_base and safe_base_controller implement a safety feature for the PR2. If the skin is mounted to the PR2's base these nodes prevent the PR2 from hitting objects.