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tiago_simulator package from tiago_simulator repo

tiago_simulator

Package Summary

Tags No category tags.
Version 2.1.0
License MIT License
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jmguerreroh/tiago_simulator.git
VCS Type git
VCS Version humble
Last Updated 2024-07-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Tiago Simulator

Additional Links

No additional links.

Maintainers

  • Jose Miguel Guerrero

Authors

No additional authors.

TIAGo Simulator

distro distro humble

This package allows running different Gazebo worlds, including the AWS Robomaker worlds, using the TIAGo robot from PAL Robotics

** In the event of communication difficulties, please consider switching the DDS. Recommended: use Eclipse 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. Add it to your .bashrc**

Installation

You need to have previously installed ROS 2. Please follow this guide if you don’t have it.

source /opt/ros/humble/setup.bash

Clone the repository to your workspace:

cd <ros2-workspace>/src/
git clone https://github.com/jmguerreroh/tiago_simulator.git


Prepare your thirparty repos:

sudo apt update
sudo apt install python3-vcstool python3-pip python3-rosdep python3-colcon-common-extensions -y
cd <ros2-workspace>/src/
vcs import < tiago_simulator/thirdparty.repos

Please make sure that this last command has not failed. If this happens, rerun it.

Building project

cd <ros2-workspace>
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF

Setup Environment

Add it to your .bashrc file

source /usr/share/gazebo/setup.bash
source <ros2-workspace>/install/setup.bash

Run Gazebo & TIAGo in ROS 2

ros2 launch tiago_simulator simulation.launch.py

To change the Gazebo world or the initial position/rotation of the TIAGo robot, you can modify the config/params.yaml file.

If you have a low performance and you have installed the NVIDIA driver, you can use your GPU by selecting the NVIDIA PRIME profile:

sudo prime-select nvidia

Otherwise, you can close the Gazebo client:

pkill -f gzclient

Also, you can use Nav2 with the robot in the world selected in config/params.yaml:

ros2 launch tiago_simulator navigation.launch.py

About

This project was made by José Miguel Guerrero, Associate Professor at Universidad Rey Juan Carlos.

Copyright © 2024.

Twitter

License

This work is licensed under the terms of the MIT license.

License: MIT

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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