TIAGo ROS 2 Simulation

This repository contains the launch files to simulate the TIAGo robot in ROS 2.

Setup

Migration to Gazebo Fortress

Right now spawning and moving the tiago model works somewhat in gazebo fortress. The process is as follows: 0. Follow the installation instructions below to create the workspace.

1. Use the newly-made launch file which opens gazebo fortress and tries to spawn Tiago

ros2 launch tiago_gazebo fortress_tiago_gazebo.launch.py is_public_sim:=True [arm_type:=no-arm]

This should launch everything as per the gazebo classic version. Open issues: Moving joints besides the wheels proves difficult. This means only the mobile_base_controller is functioning. Additionally, there is an issue with the odom_frame being published for use with Nav2, but manually publishing to cmd_vel_unstamped works fine.

It is likely that with gazebo fortress some implicit integration with ros2_control is missing w.r.t. actuating movement as compared to gazebo classic.

Prerequisites

1. Install ROS 2 Humble by following the installation instructions.

2. Update the apt package index and install needed packages

sudo apt-get update

sudo apt-get install git python3-vcstool python3-rosdep python3-colcon-common-extensions

Disclaimer: In our testing environment, we've found out that the simulation is more reliable if we switch to Cyclone DDS. You can do this by installing it with sudo apt install ros-humble-rmw-cyclonedds-cpp and setting the RMW_IMPLEMENTATION environment variable: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. More information on working with different DDS implementations here.

We are still looking on the issues when working with Fast RTPS.

3. Install Gazebo Fortress.

Setting up the workspace

Create a workspace and clone all repositories:

mkdir -p ~/tiago_public_ws/src
cd ~/tiago_public_ws
vcs import --input https://raw.githubusercontent.com/EGAlberts/tiago_simulation/humble-devel/tiago_public.repos src

Install dependencies using rosdep

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

Source the environment and build

source /opt/ros/humble/setup.bash
colcon build --symlink-install

Finally, before running any application you have to source the workspace

source ~/tiago_public_ws/install/setup.bash

Also you can add it to your .bashrc

Simulation

Standalone

Launch gazebo simulation:

ros2 launch tiago_gazebo tiago_gazebo.launch.py is_public_sim:=True [arm_type:=no-arm]

You can launch gazebo simulation using PAL office gazebo world by executing:

ros2 launch tiago_gazebo tiago_gazebo.launch.py is_public_sim:=True world_name:=pal_office [arm_type:=no-arm]

To move the robot you can use the following command from another terminal:

ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10

The velocities can be modified by changing the values of x and z.

Navigation 2

You can launch TIAGo navigation by executing

ros2 launch tiago_2dnav tiago_nav_bringup.launch.py is_public_sim:=True

Then, you can send a goal:

• With rviz2

• By using Navigation 2 API. For further information see Navigation 2 Tutorials

Simulation + Navigation 2

You can also start the simulation and navigation together by using

ros2 launch tiago_gazebo tiago_gazebo.launch.py navigation:=True is_public_sim:=True [arm_type:=no-arm]

Then, goals can be sent in the same way.

Simulation + Navigation 2 + SLAM

You can start the SLAM and navigation in simulation by using

ros2 launch tiago_gazebo tiago_gazebo.launch.py is_public_sim:=True navigation:=True slam:=True

Simulation + MoveIt 2

To launch TIAGo simulation with MoveIt 2 you can use

ros2 launch tiago_gazebo tiago_gazebo.launch.py moveit:=True

You can move the robot by:

• Launching rviz2

  ros2 launch tiago_moveit_config moveit_rviz.launch.py

  

• Using MoveIt 2 API. For further information see MoveIt 2 Tutorials

Simulation + Navigation 2 + MoveIt 2

Finally, to launch all together:

ros2 launch tiago_gazebo tiago_gazebo.launch.py navigation:=True moveit:=True is_public_sim:=True

To use private simulation you can avoid to set is_public_sim argument.