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Installing TIAGo++ Simulation

Description: A brief summary of commands to install the required packages for TIAGo++ simulation

Tutorial Level: BEGINNER

Author: Job van Dieten < job.1994@gmail.com >, Alessandro Di Fava < alessandro.difava@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >

Support: tiago-support@pal-robotics.com

Source: https://github.com/pal-robotics/tiago_dual_tutorials.git

Pre-Requisites

Make sure that all ROS repositories specified in the previous tutorial have been installed.

Linux commands

  Show EOL distros: 

  • Not supported. Currently supported ROS LTS: kinetic.

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/tiago_dual_public_ws
    cd ~/tiago_dual_public_ws

Download the file tiago_dual_public.rosinstall. Copy the rosinstall file in ~/tiago_dual_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

  • rosinstall src /opt/ros/kinetic tiago_dual_public.rosinstall

Set up rosdep

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup"

Then, you may proceed building the workspace:

  • source /opt/ros/kinetic/setup.bash
    catkin build -DCATKIN_ENABLE_TESTING=0

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

Testing the simulation installation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

The public simulation of TIAGo++ allows two different versions of the end-effector:

  • a parallel gripper
  • the under-actuated 5-finger Hey5 hand.

To launch the simulation of the TIAGo++ with a 6-axis force/torque sensor in each wrist and the parallel gripper, execute:

  • roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true end_effector_left:=pal-gripper end_effector_right:=pal-gripper

tiago++_gazebo_grippers.jpg

The version with a 6-axis force/torque sensor in each wrist and the Hey5 hand can be launched as follows:

  • roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true

tiago++_gazebo_hands.png

If you manage to launch these two simulations then the installation has been successful. If you have rendering problems please update your graphics driver.

  • Not supported. Currently supported ROS LTS: kinetic.

  • Not supported. Currently supported ROS LTS: kinetic.

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/tiago_dual_public_ws
    cd ~/tiago_dual_public_ws

Download the file tiago_dual_public-melodic.rosinstall. Copy the rosinstall file in ~/tiago_dual_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

  • rosinstall src /opt/ros/melodic tiago_dual_public-melodic.rosinstall

Set up rosdep

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src --rosdistro melodic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup opencv3"

Then, you may proceed building the workspace:

  • source /opt/ros/melodic/setup.bash
    catkin build -DCATKIN_ENABLE_TESTING=0

Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.

Testing the simulation installation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

The public simulation of TIAGo++ allows two different versions of the end-effector:

  • a parallel gripper
  • the under-actuated 5-finger Hey5 hand.

To launch the simulation of the TIAGo++ with a 6-axis force/torque sensor in each wrist and the parallel gripper, execute:

  • roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true end_effector_left:=pal-gripper end_effector_right:=pal-gripper

tiago++_gazebo_grippers.jpg

The version with a 6-axis force/torque sensor in each wrist and the Hey5 hand can be launched as follows:

  • roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true

tiago++_gazebo_hands.png

If you manage to launch these two simulations then the installation has been successful. If you have rendering problems please update your graphics driver.

Wiki: Robots/TIAGo++/Tutorials/Installation/Tiago++Simulation (last edited 2019-09-09 07:40:35 by AlessandroDiFava)