TIAGo Base

ROS Software Maintainer: PAL Robotics

TIAGo Base is an indoor mobile robot designed with minimum footprint and maximum payload in mind. Its primary sensors are a laser range finder, an IMU and ultrasound sensors. Additional devices and sensors can be easily added. TIAGo Base features built-in speakers so the robot can inform its surroundings of the completion of a task or ask you to rescue it from under a pile of objects. It also has already developed software for navigation. This robot runs on ROS internally and uses state-of-the-art ros_control components.

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Contents

TIAGo Base

Tutorials

A comprehensive set of tutorials are now available for the TIAGo Base robot in Robots/PMB-2/Tutorials. The tutorials make use of the Gazebo simulator and currently contain tutorials on autonomous navigation. Comprehensive instructions on how to install the public simulator are provided.

Public simulation packages overview

This section presents an overview of the packages used in the public simulation of TIAGo Base, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to TIAGo Base simulation installation tutorial.

Control the robot

TIAGo Base supports a Logitech joystick by default.

Controllers from other vendors may have different key mappings. In this case, the joy_teleop.yaml file needs to be changed to reflect the different configuration.

If you had one plugged in when you started up the (real or simulated) robot, now it can be used. Activate the joystick commands by pressing the 'X' button, and drive using the controllers. This activation behaviour comes in very handy when the robot is navigating autonomously but a rapid interruption is needed.

One can also use the rqt_robot_steering plugin to drive the robot by sending commands directly to /mobile_base_controller/cmd_vel

Library Overview

1. Basic Configuration

Component	ROS package/stack
Robot model (URDF)	pmb2_description
Robot controller configuration	pmb2_controller_configuration
Robot bringup files	pmb2_bringup

2. Hardware Drivers and Simulation

Component	ROS package/stack
Robot hardware simulation	pmb2_hardware_gazebo
Simulation-specifig controller config	pmb2_controller_configuration_gazebo
Gazebo setup	pmb2_gazebo

3. High-Level Capabilities

Component	ROS package/stack
Control over the source of movement commands	twist_mux
Joystick teleoperation interface	joy_teleop

Related Repositories

PAL Robotics GitHub organization