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:

  • TIAGo Steel: in this configuration the end-effector is a parallel gripper

  • TIAGo Titanium: the wrist has a 6-axis force/torque sensor and the end-effector is the under-actuated 5-finger Hey5 hand.

To launch the simulation of the TIAGo Steel, execute: 

  • roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

tiago_gazebo_steel.png

The Titanium version can be launched as follows: 

  • roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium

tiago_gazebo_titanium.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/Testing_simulation_installation (last edited 2018-03-06 08:35:06 by VictorLopez)

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