TIAGo Simulator

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.

License

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