Testing the simulation installation
First of all open a console and source the workspace:
The public simulation of TIAGo++ allows two different versions of the end-effector:
- a parallel gripper
- the under-actuated 5-finger Hey5 hand.
To launch the simulation of the TIAGo++ with a 6-axis force/torque sensor in each wrist and the parallel gripper, execute:
roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true end_effector_left:=pal-gripper end_effector_right:=pal-gripper
The version with a 6-axis force/torque sensor in each wrist and the Hey5 hand can be launched as follows:
roslaunch tiago_dual_gazebo tiago_dual_gazebo.launch public_sim:=true
If you manage to launch these two simulations then the installation has been successful. If you have rendering problems please update your graphics driver.