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TIAGo++ Tutorials

These tutorials have been created to learn how to use TIAGo++, the mobile manipulator by PAL Robotics with two arms, in the Gazebo simulation environment running on an Ubuntu computer.

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.

tiago_dual_robot.png

Contents

Tutorials Installation

  1. Installing Ubuntu with ROS + TIAGO ++

    This tutorial describes the steps needed to get a proper Unbuntu and ROS installation to have a system up and running for the TIAGo++ tutorials.

  2. Installing Tiago++ Tutorial docker

    How to pull and launch a docker all set up for the Tiago++ Tutorial with melodic

  3. Testing TIAGo++ Simulation

    A brief summary of commands to test the required packages for TIAGo++ simulation

install_tutorial.jpg

Control

  1. Teleoperating the mobile base with the keyboard

    How to move the differential drive base of TIAGo++ using the key_teleop package.

  2. Moving the base through velocity commands

    This tutorial shows how to move the base by sending velocity commands to the appropriate topic.

  3. Joint Trajectory Controller

    Example of how to move TIAGo++'s arms using a joint trajectory action.

  4. Moving individual joints

    Different ways to move individual joints of TIAGo++ are explained.

  5. Head control

    Example on how to move TIAGo++'s head using an action that makes the robot look to a given direction.

  6. Playing pre-defined upper body motions

    Tutorial on how to play back pre-defined upper body motions with TIAGo++ using the play_motion package.

tiago_play_motion_title.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 TIAGo++.

  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.

tiago++_navigation_tutorial.jpg

MoveIt!

  1. Planning in joint space

    How to reach a given joint space configuration using motion planning based on MoveIt!

  2. Planning in cartesian space

    UseMoveIt! to plan a joint trajectory in order to reach a given pose in cartesian space

  3. Planning with Octomap demo

    Use Octomap in MoveIt! to compute the collision checking with the environment around the robot during the motion planning of poses given in cartesian space

tiago++_moveit_tutorials.jpg

OpenCV

These tutorials have been created to learn how to use OpenCV with TIAGo++. Due to the camera framework of the TIAGo++ is the same of the TIAGo robot one, then the links forward to the TIAGo OpenCV tutorials. The only difference is in launching the TIAGo++ simulation environment like shown in the TIAGo++ Simulation tutorial, instead of launching the TIAGo simulation.

  1. Track Sequential (C++)

    A simple method to detect and track basic movements/shapes on a static camera against a static background

  2. Corner Detection (C++)

    There are two corner detector algorithms often used in the OpenCV library, the Shi-Tomasi and Harris functions. In this simple tutorial you will see how changing two parameters can affect the corner detection

  3. Find Keypoints (C++/Python)

    OpenCV has a multitude of Feauture detectors, and in this tutorial you will be able to go through most of them, and seeing how image sharpening and contrast affects the detection of features

  4. Matching (C++/Python)

    Using feature detection in two images, this class will attempt to find matches between the keypoints detected and thereby see if the image contains a certain object.

  5. ArUco marker detection (C++)

    This tutorial shows how to detect fiducial markers using the ArUco library and to get its 3D pose.

  6. Person detection (C++)

    ROS node using the OpenCV person detector based on HOG Adaboost cascade

  7. Face detection (C++)

    Example of ROS node embedding OpenCV's face detector.

  8. Planar object detection and pose estimation (C++)

    Planar textured object detection based on feature matching between live video feed an a reference image of the object. Then, the pose of the object is determined by homography estimation and provided the size of the object.

opencv_tutorial.jpg

Point Cloud

These tutorials have been created to learn how to use PCL library with TIAGo++. Due to the camera framework of the TIAGo++ is the same of the TIAGo robot one, then the links forward to the TIAGo PCL tutorials. The only difference is in launching the TIAGo++ simulation environment like shown in the TIAGo++ Simulation tutorial, instead of launching the TIAGo simulation.

  1. Table segmentation (C++)

    Example of plane segmentation applied to the detection of a table and the objects on top of it.

  2. Cylinder detector (C++)

    Cylindrical object detection based on sample consensus segmentation.

  3. Region Based Segmentation (C++)

    Region based segmentation takes a point in the pointcloud and determines whether neighbouring points are part of the same region

pcl_tutorial.jpg

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2024-12-28 13:07