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TIAGo Base

tiago_base.png

ROS Software Maintainer: PAL Robotics

TIAGo Base is an indoor mobile robot designed with minimum footprint and maximum payload in mind. Its primary sensors are a laser range finder, an IMU and ultrasound sensors though additional devices and sensors can be easily added. TIAGo Base features built-in speakers so the robot can inform its surroundings of the completion of a task or ask you to rescue it from under a pile of objects. It also has already developed software for navigation. This robot runs on ROS Kinetic internally, and uses state-of-the-art ros_control components.

If you wish to know more or request a quote, please send us a message or refer to the product page

Tutorials

A comprehensive set of tutorials are now available for the TIAGo Base robot in Robots/PMB-2/Tutorials. The tutorials make use of the Gazebo simulator and currently contains tutorials on autonomous navigation. Comprehensive instructions on how to install the public simulator are provided.

Public simulation packages overview

This section presents an overview of the packages used in the public simulation of TIAGo Base, with links to the corresponding wiki pages describing the packages. For the installation instructions of the packages please refer to TIAGo Base simulation installation tutorial.

Control the robot

TIAGo Base supports a logitech joystick by default.

logitech-joystick.png

Controllers from other vendors may have different key mappings. In this case the joy_teleop.yaml file needs to be changed to reflect the different configuration.

If you had one plugged when you started up the (real or simulated) robot, now it can be used. Activate the joystick commands by pressing the 'X' button, and drive using the controllers. This activation behaviour comes in very handy when the robot is navigating autonomously but a rapid interruption is needed.

One can also use the rqt_robot_steering plugin to drive the robot by sending commands directly to /mobile_base_controller/cmd_vel

Library Overview

Basic Configuration

Component

ROS package/stack

Robot model (URDF)

pmb2_description

Robot controller configuration

pmb2_controller_configuration

Robot bringup files

pmb2_bringup

Hardware Drivers and Simulation

Component

ROS package/stack

Robot hardware simulation

pmb2_hardware_gazebo

Simulation-specifig controller config

pmb2_controller_configuration_gazebo

Gazebo setup

pmb2_gazebo

High-Level Capabilities

Component

ROS package/stack

Control over the source of movement commands

twist_mux

Joystick teleoperation interface

joy_teleop

PAL Robotics GitHub organization


2020-08-01 12:25