TIAGo

TIAGo_animation.gif

ROS Software Maintainer: PAL Robotics

TIAGo is a service robot designed to work in indoor environments. TIAGo’s features make it the ideal platform for research, especially on ambient assisted living or light industry. It combines mobility, perception, manipulation and human-robot interaction capabilities for one specific goal: to be able to assist in research.

For technical questions regarding the public simulation of the robot please write to tiago-support@pal-robotics.com .

If you wish to know more or request a quote, please send us a message or refer to the product microsite

A picture is worth a thousand words:

TIAGo_gallery.jpg

Tutorials

A comprehensive set of tutorials are now available for the TIAGo robot in Robots/TIAGo/Tutorials. The tutorials make use of the Gazebo simulator and currently contains tutorials on how to use OpenCV, PCL, autonomous navigation, MoveIt! and Human Robot Interaction.

Public simulation packages overview

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

Robot model

Component

ROS package/stack

Robot model (URDF)

tiago_description

Mobile base model (URDF)

pmb2_description

Gripper model (URDF)

pal_gripper_description

Hey5 hand model (URDF)

hey5_description

Simulation files

Robot bringup files

tiago_bringup

Robot Gazebo models, worlds and launch scripts

tiago_gazebo

Robot controller configuration for Gazebo

tiago_controller_configuration_gazebo

Mobile base controller configuration for Gazebo

pmb2_controller_configuration_gazebo

Gazebo plugins

pal_gazebo_plugins

Public navigation

Component

ROS package/stack

Navigation config and launch files

tiago_2dnav_gazebo

Navigation meta-package

tiago_navigation

Mapping and localization state machine

pal_navigation_sm

Hardware Drivers for simulation

Component

ROS package/stack

Hardware drivers

pal_hardware_gazebo

Messages

Component

ROS package/stack

PAL specific messages

pal_msgs

Controllers

Component

ROS package/stack

ros_control overlay

ros_control

ros_controllers overlay

ros_controllers

gazebo_ros_control overlay

gazebo_ros_control

High-Level Capabilities

Component

ROS package/stack

Play back of pre-defined motions

play_motion

Point head action

head_action

MoveIt! package

tiago_moveit_config

ArUco markers detection

aruco_ros

PAL Robotics GitHub organization

Wiki: Robots/TIAGo (last edited 2017-01-27 11:38:24 by Jordi Pages)