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.

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

Test the simulation in Gazebo and discover all the available options for TIAGo

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

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

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

Different ways to move individual joints of TIAGo are explained.

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

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

This tutorial shows how to create a map of the environment using the range-finder on the base of TIAGo.

Learn how to run laser-based localization and autonomous navigation avoiding obstacles by means of global and local path planning.

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

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

Use TRAC-IK in MoveIt! to plan a joint trajectory in order to reach a given pose in cartesian space

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

Tabletop pick & place demo using monocular model-based object reconstruction based on ArUco markers and the pick and place pipeline in MoveIt!

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

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

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

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.

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

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

Example of ROS node embedding OpenCV's face detector.

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.

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

Cylindrical object detection based on sample consensus segmentation.

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

This tutorial shows how to launch the Multi-TIAGo simulation in Gazebo and how to execute some basic operations.

This tutorial shows how to launch the Multi-TIAGo navigation simulation in Gazebo and how to run autonomous navigation avoiding obstacles by means of global and local path planning.