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Installing TIAGo SimulationDescription: A brief summary of commands to install the required packages for TIAGo simulation
Tutorial Level: BEGINNER
Make sure that all ROS repositories specified in the previous tutorial have been installed.
Not supported. Currently supported: indigo.
Currently source-based installation is provided.
First of all open a terminal and create an empty workspace:
mkdir ~/tiago_public_ws cd ~/tiago_public_ws
Click on the tiago_public.rosinstall link and press get button in order to download the file. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:
rosinstall src /opt/ros/indigo tiago_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 indigo --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud"
Then, you may proceed building the workspace:
source /opt/ros/indigo/setup.bash catkin build
Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.
Coming soon! Currently supported: indigo.
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.