These tutorials have been created to learn how to use TIAGo, the mobile manipulator by PAL Robotics, in the Gazebo simulation environment running on an Ubuntu computer.
- Installing Ubuntu with ROS
This tutorial describes the steps needed to get a proper Unbuntu and ROS installation to have a system up and running for the TIAGo tutorials.
- Installing TIAGo Simulation
A brief summary of commands to install the required packages for TIAGo simulation
- Create a map with gmapping
This tutorial shows how to create a map of the environment using the range-finder on the base of TIAGo.
- Localization and path planning
Learn how to run laser-based localization and autonomous navigation avoiding obstacles by means of global and local path planning.
- Track Sequential (C++)
A simple method to detect and track basic movements/shapes on a static camera against a static background
- Corner Detection (C++)
There are two corner detector algorithms often used in the OpenCV library, the Shi-Tomasi and Harris functions. In this simple tutorial you will see how changing two parameters can affect the corner detection
- Find Keypoints (C++/Python)
OpenCV has a multitude of Feauture detectors, and in this tutorial you will be able to go through most of them, and seeing how image sharpening and contrast affects the detection of features
- Matching (C++/Python)
Using feature detection in two images, this class will attempt to find matches between the keypoints detected and thereby see if the image contains a certain object.
- ArUco marker detection (C++)
This tutorial shows how to detect fiducial markers using the ArUco library and to get its 3D pose.
- Person detection (C++)
ROS node using the OpenCV person detector based on HOG Adaboost cascade
- Face detection (C++)
Example of ROS node embedding OpenCV's face detector.
- Planar object detection and pose estimation (C++)
Planar textured object detection based on feature matching between live video feed an a reference image of the object. Then, the pose of the object is determined by homography estimation and provided the size of the object.
- Execute the Multi-TIAGo Simulation
This tutorial shows how to launch the Multi-TIAGo simulation in Gazebo and how to execute some basic operations.
- Multi-TIAGo Navigation
This tutorial shows how to launch the Multi-TIAGo navigation simulation in Gazebo and how to run autonomous navigation avoiding obstacles by means of global and local path planning.
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Learning TIAGo on-line
The tutorials have been integrated in the on-line course of The Construct Mastering with ROS: TIAGo. With these course no installation is required as all the tutorials, including exercises, can be run with a standard web browser.