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 is located in this stack.

The cob_control stack includes packages that are used to do low level control tasks with Care-O-bot hardware over ROS.

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...