PMB-2 Tutorials

These tutorials have been created to learn how to use PMB-2, the mobile robot by PAL Robotics, in the Gazebo simulation environment running on an Ubuntu computer. tiago_base.jpg

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.

Contents

  1. PMB-2 Tutorials
    1. Tutorials Installation
    2. Autonomous navigation

Tutorials Installation

  1. Installing Ubuntu with ROS + TIAGo Base

    This tutorial describes the steps needed to get a proper Ubuntu and ROS installation to have a system up and running for the PMB-2 tutorials.

  2. Installing TIAGo Base Tutorial Docker

    How to pull and launch a docker all set up for the TIAGo Base Tutorial with melodic or noetic

  3. Testing the TIAGo Base simulation

    A brief summary of commands to install the required packages for PMB-2 simulation

install_tutorial_v2.jpg

Autonomous navigation

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

  1. Create a map with gmapping

    This tutorial shows how to create a map of the environment using the range-finder on the base of PMB-2.

  2. Localization and path planning

    Learn how to run laser-based localization and autonomous navigation avoiding obstacles by means of global and local path planning.

navigation_tutorial.jpg

Create a new tutorial:

Wiki: Robots/PMB-2/Tutorials (last edited 2024-01-05 09:51:39 by thomaspeyrucain)

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