= TIAGo Tutorials =
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.
{{{#!wiki caution
It is not meant for development on real robots since more functionalities are available in the docker/ISO provided to customers when purchasing the robot.
}}}

{{attachment:TIAGO_tutorial_intro.png||align="right", width="300"}}



<<TableOfContents(4)>>

== Tutorials Installation ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS)>> || {{attachment:install_tutorial.jpg||align="right", width="300"}} ||

== Control ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/motions/key_teleop)>> || {{attachment:motions_tutorial.jpg||align="right", width="200"}} ||

== Autonomous navigation ==
{{{#!wiki caution
If you are using a computer with a non-dedicated GPU and run into issues with the lasers in simulation you would need to change this environment variable:

'''export LIBGL_ALWAYS_SOFTWARE=1'''
}}}
|| <<TutorialChain(Robots/TIAGo/Tutorials/Navigation/Mapping)>> || {{attachment:navigation_tutorial.jpg||align="right", width="200"}} ||

== MoveIt! ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/MoveIt/Planning_joint_space)>> || {{attachment:moveit_tutorial.jpg||align="right", width="200"}} ||

== OpenCV ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/OpenCV)>> || {{attachment:opencv_tutorial.jpg||align="right", width="200"}} ||

== Point Cloud ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/PointCloud)>> || {{attachment:pcl_tutorial.jpg||align="right", width="200"}} ||

== Multi-TIAGo ==
|| <<TutorialChain(Robots/TIAGo/Tutorials/Multi_TIAGo_simulation)>> || {{attachment:multi_play_motions.png||align="right", width="200"}} ||

## == Force Torque Sensor ==
## <<TutorialChain(Robots/TIAGo/Tutorials/FTS)>>

## == Human Robot Interaction ==
## <<TutorialChain(Robots/TIAGo/Tutorials/TTS)>>

'''Create a new tutorial:''' <<NewPage(TutorialTemplate,Enter tutorial name,Robots/TIAGo/Tutorials,%s)>> 

= Learning TIAGo on-line =

The tutorials have been integrated in the on-line course of [[http://www.theconstructsim.com/|The Construct]] [[https://www.theconstructsim.com/robotigniteacademy_learnros/ros-courses-library/ros-courses-mastering-ros-tiago/|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.