TIAGo OMNI Base

TIAGo_OMNI_Base.png

ROS Software Maintainer: PAL Robotics

TIAGo OMNI Base is PAL Robotics’ recently developed omnidrive robot. TIAGo OMNI Base is complete with omnidirectional drive with 3 DoF mecanum wheels and includes two LIDAR sensors for an unobstructed 360º FOV secure movement. This includes autonomous navigation and obstacle detection. TIAGo OMNI Base is part of the TIAGo robot family, which includes the original Autonomous Mobile Robot (AMR) with differential drive, TIAGo Base.

TIAGo OMNI Base users can take full advantage of the manoeuvrability offered by TIAGo OMNI Base’s omnidrive base for path planning. The omnidirectional robot base provides precision positioning even in constrained environments. This is where a robot with omnidirectional movement appears to be the most optimal proposal thanks to its versatility of 360º movement.

In summary, TIAGo OMNI Base offers the following advantages:

  • EFFICIENT: Autonomous navigation, detection of obstacles and route planning.
  • HIGHLY MANOEUVRABLE: Four omnidirectional mechanical wheels to navigate in all directions.
  • CUSTOMIZABLE: You can customize it with accessories to fit your needs.
  • HIGH TRACTION: Optimum navigation results in uneven surfaces.

It also has already developed software for navigation. This robot runs on ROS Melodic/Noetic internally, and uses state-of-the-art ros_control components.

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

Contents

  1. TIAGo OMNI Base
    1. Tutorials
    2. Public simulation packages overview
    3. Control the robot
    4. Library Overview
      1. Basic Configuration
      2. Hardware Drivers and Simulation
      3. High-Level Capabilities
    5. Related Repositories

Tutorials

A comprehensive set of tutorials are now available for the TIAGo OMNI Base robot in Robots/TIAGo-OMNI-base/Tutorials. The tutorials make use of the Gazebo simulator and currently contains 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 OMNI Base, with links to the corresponding packages. For the installation instructions of the packages please refer to TIAGo OMNI Base simulation installation tutorial.

Control the robot

TIAGo OMNI Base supports a logitech joystick by default.

logitech-joystick.png

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 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

Basic Configuration

Component

ROS package/stack

Robot model (URDF)

omni_base_description

Robot controller configuration

omni_base_controller_configuration

Robot bringup files

omni_base_bringup

Hardware Drivers and Simulation

Component

ROS package/stack

Simulation-specifig controller config

omni_base_controller_configuration_gazebo

Gazebo setup

omni_base_gazebo

Navigation stack

omni_base_navigation

High-Level Capabilities

Component

ROS package/stack

Control over the source of movement commands

twist_mux

Joystick teleoperation interface

joy_teleop

PAL Robotics GitHub organization

Wiki: Robots/TIAGo-OMNI-base (last edited 2023-07-26 09:35:37 by PALmarketing)

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