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Installing TIAGo Simulation

Description: A brief summary of commands to install the required packages for TIAGo simulation

Tutorial Level: BEGINNER

Pre-Requisites

Make sure that all ROS repositories specified in the previous tutorial have been installed.

Linux commands

  • Not supported. Currently supported: indigo.

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

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:

  • 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/TiagoSimulation (last edited 2017-03-15 14:46:09 by AlessandroDiFava)