= TIAGo =

{{attachment:TIAGo_robot.png||align="right",width="150"}}

''ROS Software Maintainer: [[http://pal-robotics.com|PAL Robotics]]''

TIAGo is a service robot designed to work in indoor environments. TIAGo’s features make it the ideal platform for research, especially on ambient assisted living or light industry. It combines mobility, perception, manipulation and human-robot interaction capabilities for one specific goal: to be able to assist in research.

For technical questions regarding the public simulation of the robot please write to tiago-support@pal-robotics.com .

If you wish to know more or request a quote, please [[https://pal-robotics.com/contact/|send us a message]] or [[https://pal-robotics.com/robots/tiago/|refer to the product microsite]] 


<<TOC(3)>>

== Videos ==

'''Workspace versatility'''
<<Youtube(6BwRqwD066g)>>

'''Gravity compensation'''
<<Youtube(EjIggPKy0T0)>>

'''Learning by demonstration'''
<<Youtube(gVfc6aI5WGg)>>

'''Whole Body Control'''
<<Youtube(kdwShb-YrbA)>>

== Gallery ==

A picture is worth a thousand words:

{{attachment:TIAGo_gallery.jpg||align="center",width="750"}}

== Tutorials ==
A comprehensive set of tutorials are now available for the TIAGo robot in '''[[Robots/TIAGo/Tutorials]]'''. The tutorials make use of the [[http://gazebosim.org|Gazebo]] simulator and currently contains tutorials on how to use [[http://opencv.org|OpenCV]], [[http://pointclouds.org|PCL]], autonomous navigation, [[http://moveit.ros.org|MoveIt!]] and Human Robot Interaction.

== Public simulation packages overview ==

This section presents an overview of the packages used in the public simulation of TIAGo, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to [[http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation|TIAGo simulation installation tutorial]].

=== Robot model ===
||'''Component''' ||'''ROS package/stack''' ||
||Robot model (URDF) ||[[tiago_description]] ||
||Mobile base model (URDF) ||[[pmb2_description]] ||
||Gripper model (URDF) ||[[pal_gripper_description]] ||
||Hey5 hand model (URDF) ||[[hey5_description]] ||

===  Simulation files ===
||Robot bringup files ||[[tiago_bringup]] ||
||Robot Gazebo models, worlds and launch scripts ||[[tiago_gazebo]] ||
||Robot controller configuration for Gazebo ||[[tiago_controller_configuration_gazebo]] ||
||Mobile base controller configuration for Gazebo ||[[pmb2_controller_configuration_gazebo]] ||
||Gazebo plugins ||[[pal_gazebo_plugins]] ||


=== Public navigation ===
||'''Component''' ||'''ROS package/stack''' ||
||Navigation config and launch files ||[[tiago_2dnav_gazebo]] ||
||Navigation meta-package ||[[tiago_navigation]] ||
||Mapping and localization state machine ||[[pal_navigation_sm]] ||

=== Hardware Drivers for simulation ===
||'''Component''' ||'''ROS package/stack''' ||
|| Hardware drivers ||[[pal_hardware_gazebo]] ||

=== Messages ===
||'''Component''' ||'''ROS package/stack''' ||
|| PAL specific messages ||[[pal_msgs]] ||

=== Controllers ===
||'''Component''' ||'''ROS package/stack''' ||
|| ros_control overlay ||[[ros_control]] ||
|| ros_controllers overlay ||[[ros_controllers]] ||
|| gazebo_ros_control overlay ||[[gazebo_ros_control]] ||

=== High-Level Capabilities ===
||'''Component''' ||'''ROS package/stack''' ||
|| Play back of pre-defined motions ||[[play_motion]] ||
||Point head action ||[[head_action]] ||
||MoveIt! package ||[[tiago_moveit_config]] ||
||ArUco markers detection ||[[aruco_ros]] ||

== Related Repositories ==
[[https://github.com/pal-robotics|PAL Robotics GitHub organization]]