  Mobile manipulation robots have high potential to support rescue forces in
disaster-response missions. Despite the difficulties imposed by real-world
scenarios, robots are promising to perform mission tasks from a safe distance.
In the CENTAURO project, we developed a disaster-response system which consists
of the highly flexible Centauro robot and suitable control interfaces including
an immersive tele-presence suit and support-operator controls on different
levels of autonomy.
  In this article, we give an overview of the final CENTAURO system. In
particular, we explain several high-level design decisions and how those were
derived from requirements and extensive experience of Kerntechnische
Hilfsdienst GmbH, Karlsruhe, Germany (KHG). We focus on components which were
recently integrated and report about a systematic evaluation which demonstrated
system capabilities and revealed valuable insights.
