tiago_simulation repository

Repository Summary

Checkout URI https://github.com/pal-robotics/tiago_simulation.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-04-04
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
tiago_gazebo 4.1.1
tiago_multi 2.0.23
tiago_simulation 4.1.1

README

TIAGo ROS 2 Simulation

This repository contains the launch files to simulate the TIAGo robot in ROS 2.

Setup

Prerequisites

  1. Install ROS 2 Humble by following the installation instructions.

  2. Update the apt package index and install needed packages

sudo apt-get update

sudo apt-get install git python3-vcstool python3-rosdep python3-colcon-common-extensions

Disclaimer: In our testing environment, we've found out that the simulation is more reliable if we switch to Cyclone DDS. You can do this by installing it with sudo apt install ros-humble-rmw-cyclonedds-cpp and setting the RMW_IMPLEMENTATION environment variable: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. More information on working with different DDS implementations here.

We are still looking on the issues when working with Fast RTPS.

Setting up the workspace

Create a workspace and clone all repositories:

mkdir -p ~/tiago_public_ws/src
cd ~/tiago_public_ws
vcs import --input https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/humble-devel/tiago_public.repos src

Install dependencies using rosdep

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

Source the environment and build

source /opt/ros/humble/setup.bash
colcon build --symlink-install

Finally, before running any application you have to source the workspace

source ~/tiago_public_ws/install/setup.bash

Also you can add it to your .bashrc

Simulation

Standalone

Launch gazebo simulation:

ros2 launch tiago_gazebo tiago_gazebo.launch.py [arm:=no-arm]

To move the robot you can use the following command from another terminal:

ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10

The velocities can be modified by changing the values of x and z.

You can launch TIAGo navigation by executing

ros2 launch tiago_2dnav tiago_nav_bringup.launch.py is_public_sim:=true

Then, you can send a goal:

  • With rviz2

Simulation + Navigation 2

You can also start the simulation and navigation together by using

ros2 launch tiago_gazebo tiago_gazebo.launch.py navigation:=true is_public_sim:=true [arm:=no-arm]

Then, goals can be sent in the same way.

Simulation + MoveIt 2

To launch TIAGo simulation with MoveIt 2 you can use

ros2 launch tiago_gazebo tiago_gazebo.launch.py moveit:=true

You can move the robot by:

  • Launching rviz2
    ros2 launch tiago_moveit_config moveit_rviz.launch.py

<img src="doc/media/rviz_execute_movement.gif" title="Movement with rviz2 and MoveIt 2" width="85%">

Simulation + Navigation 2 + MoveIt 2

Finally, to launch all together:

ros2 launch tiago_gazebo tiago_gazebo.launch.py navigation:=true moveit:=true is_public_sim:=true

CONTRIBUTING

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