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_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 are arm, end_effector and ft_sensor.
2. Create (or softlnk) a SRDF file at config/tiago.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_moveit_config

3.1.2 (2025-02-05)

• Set robot_description_timeout to 60 seconds
• Contributors: Noel Jimenez

3.1.1 (2024-11-04)

• Merge branch 'tpe/fix_base_type_arg' into 'humble-devel' Add base_type arg to move_group See merge request robots/tiago_moveit_config!88
• Add base_type arg to move_group
• Contributors: thomas.peyrucain, thomaspeyrucain

3.1.0 (2024-09-18)

• remove ft-sensor in hw suffix and files
• Contributors: David ter Kuile

3.0.18 (2024-07-25)

• Change parameter to arm_type
• Contributors: thomas.peyrucain

3.0.17 (2024-07-09)

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

3.0.16 (2024-06-26)

• Merge branch 'dtk/move-robot-args' into 'humble-devel' Change import for launch args See merge request robots/tiago_moveit_config!84
• Change import for launch args
• Contributors: David ter Kuile, davidterkuile

3.0.15 (2024-06-10)

• Merge branch 'feat/motions' into 'humble-devel' add custom file for posible costumers See merge request robots/tiago_moveit_config!83
• new disable collision for robotiq
• add disable collision
• add custom file for posible costumers
• Contributors: Aina, davidterkuile

3.0.14 (2024-05-13)

• Merge branch 'omm/feat/imarkers' into 'humble-devel' Restored proper rviz launch file with interactive markers See merge request robots/tiago_moveit_config!82
• Restored proper rviz launch file with interactive markers
• Contributors: davidterkuile, oscarmartinez

3.0.13 (2024-05-09)

• Merge branch 'feat/auto-generated_srdf_files' into 'humble-devel' auto generated srdf files See merge request robots/tiago_moveit_config!81
• include files
• create srdf on the go
• migrate update.sh
• restructure srdf files
• add disable collision files & end_effectors files
• Merge branch 'omm/fix/launch_standarization' into 'humble-devel' Launch files moved to TIAGo family standard See merge request robots/tiago_moveit_config!79
• Removing deprecated fake controllers
• Launch files moved to TIAGo family standard
• Merge branch 'dtk/fix/missing-dependency' into 'humble-devel' Fix missing dependency See merge request robots/tiago_moveit_config!78
• Add missing moveit-ros-perception dependency
• Contributors: Aina Irisarri, David ter Kuile, Noel Jimenez, Oscar, davidterkuile

3.0.12 (2024-03-06)

• Enable log colors for move_group and rviz nodes
• Revert "Install the moveit setup assistant to avoid some warnings" This reverts commit 7d51b736a0d22bd12bad43f9322f1a52c4532d46.
• Contributors: Noel Jimenez

3.0.11 (2024-03-04)

• Install the moveit setup assistant to avoid some warnings
• Contributors: Noel Jimenez

3.0.10 (2024-02-29)

• Read robot_description from the topic
• Contributors: Noel Jimenez

3.0.9 (2024-01-31)

• delete arm controllers when no-arm
• change config files name when no end_effector & adding robotiq config files

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