Testing the simulation installation
First of all open a console and source the workspace:
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
The Titanium version can be launched as follows:
roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium
If you manage to launch these two simulations then the installation has been successful. If you have rendering problems please update your graphics driver.