TIAGo++ MoveIt! Config

This package contains the MoveIt! config files for all possible TIAGo++ configurations (end effectors, force torque sensors..).

To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_dual_robot/ readme.

Running the setup assistant

If you need to modify the setup assistant, you’ll need to:

1. Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify areend_effector_left, end_effector_right, ft_sensor_left, ft_sensor_right and base_type. Also add no_safety_eps:=False
2. Create (or softlnk) a SRDF file at config/tiago_dual.srdf if you want to load existing moveit configuration. The SRDF files used are in config/srdf, and only changes in that directory will not reflect on the robot.

Make sure that after running to reflect the changes in the auto generated files.

Changelog for package tiago_dual_moveit_config

2.0.11 (2025-04-16)

• ineractive marker
• Contributors: Vamsi GUDA

2.0.10 (2025-03-21)

• update move_group launch
• virtual joint removal
• cheks if the string 'use_sensor_manager' is equal to true
• Contributors: matteovillani

2.0.9 (2025-02-05)

• Group parameters in a variable
• Set robot_description_timeout to 60 seconds
• Contributors: Noel Jimenez

2.0.8 (2024-11-04)

• Merge branch 'dtk/update-em-generation' into 'humble-devel' Dtk/update em generation See merge request robots/tiago_dual_moveit_config!46
• Clean launch file structure
• Clean redundant controller.yaml files
• Contributors: David ter Kuile, davidterkuile

2.0.7 (2024-09-26)

• Merge branch 'tpe/fix_and_add_dependency' into 'humble-devel' Fix unwanted files + solve dependency issues See merge request robots/tiago_dual_moveit_config!47
• Copy paste end effector config from tiagomove_it_config because the module move_group was clashing with it and bad idea to have both config should be extracted from both in the future
• Add temporal dependency + fix unwanted files
• Contributors: thomas.peyrucain, thomaspeyrucain

2.0.6 (2024-07-09)

• Add warning for pal_module_cmake not found
• Contributors: Noel Jimenez

2.0.5 (2024-06-26)

• Merge branch 'dtk/move-robot-args' into 'humble-devel' Change import for launch args See merge request robots/tiago_dual_moveit_config!44
• Change import for launch args
• Contributors: David ter Kuile, davidterkuile

2.0.4 (2024-06-10)

• Merge branch 'feat/motions' into 'humble-devel' modify robotiq dissable collision files See merge request robots/tiago_dual_moveit_config!43
• modify robotiq dissable collision files
• Merge branch 'feat/auto-generated_srdf_files' into 'humble-devel' auto generated srdf files See merge request robots/tiago_dual_moveit_config!42
• delete unused script
• linters
• disable files autogenerated
• modify xacro
• migrate script
• generate srdf on the go
• delete unnecessary srdf files
• Merge branch 'dtk/fix/missing-dependency' into 'humble-devel' Add missing moveit-ros-perception dependency See merge request robots/tiago_dual_moveit_config!41
• Add missing moveit-ros-perception dependency
• Contributors: Aina, Aina Irisarri, Noel Jimenez, davidterkuile

2.0.3 (2024-03-06)

• Enable log colors for move_group and rviz nodes
• Remove .setup_assistant installation
• Contributors: Noel Jimenez

2.0.2 (2024-03-04)

• Read robot_description from the topic
• Add missing find_package for pal_module_cmake
• Contributors: Noel Jimenez

2.0.1 (2024-02-28)

• Publish robot_description_semantic
• Remove duplicated underscore for hardware suffix
• Contributors: Noel Jimenez

2.0.0 (2024-01-18)

• Install faulty installation rule for moveit_setup_assistent file
• Add missing ament_cmake_auto dependency
• CMake version to 3.8
• Update linting
• Add if statement to moveit sensor manager

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