TIAGo
ROS Software Maintainer: 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 send us a message or refer to the product microsite
Contents
Videos
Workspace versatility
Gravity compensation
Learning by demonstration
Whole Body Control
Gallery
A picture is worth a thousand words:
Tutorials
A comprehensive set of tutorials are now available for the TIAGo robot in Robots/TIAGo/Tutorials. The tutorials make use of the Gazebo simulator and currently contains tutorials on how to use OpenCV, PCL, autonomous navigation, 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 TIAGo simulation installation tutorial.
Robot model
Component |
ROS package/stack |
Robot model (URDF) |
|
Mobile base model (URDF) |
|
Gripper model (URDF) |
|
Hey5 hand model (URDF) |
Simulation files
Robot bringup files |
|
Robot Gazebo models, worlds and launch scripts |
|
Robot controller configuration for Gazebo |
|
Mobile base controller configuration for Gazebo |
|
Gazebo plugins |
Public navigation
Component |
ROS package/stack |
Navigation config and launch files |
|
Navigation meta-package |
|
Mapping and localization state machine |
Hardware Drivers for simulation
Component |
ROS package/stack |
Hardware drivers |
Messages
Component |
ROS package/stack |
PAL specific messages |
Controllers
Component |
ROS package/stack |
ros_control overlay |
|
ros_controllers overlay |
|
gazebo_ros_control overlay |
High-Level Capabilities
Component |
ROS package/stack |
Play back of pre-defined motions |
|
Point head action |
|
MoveIt! package |
|
ArUco markers detection |
