Skip to content

Navigation

When turning on TIAGo, navigation is automatically started. However, the navigation is paused by default. To resume navigation, open a terminal on the development PC and run $ start_navigation.

To visualise TIAGo navigation through the map (a map of the lab has been recorded and is automatically loaded when booting TIAGo), open a terminal on the development PC and run $ rviz_navigation. In this instance of RViz you can change the initial position of TIAGo if necessary. You can also drive the robot around using the controller to localise it better using AMCL.

Octomap

If you want to enable MoveIt! to use the input from the depth sensor, you will need to launch the tiago_moveit_config move_group.launch file with the camera argument as true. The main issue is that this launch file is launched when the robot starts (inside the ros_bringup). So there are two options:

  1. Deploy the tiago_moveit_config package from your development computer to the robot. You will need to create a workspace in your computer, clone the tiago_moveit_config (branch: kinetic-devel) package, and deploy it on your robot: rosrun pal_deploy deploy.py -p tiago_moveit_config tiago-115c And reboot the robot

  2. The second option is to modify it permanently on your robot:

su #(enter the password palroot)
rw
chroot /ro
rosed tiago_moveit_config move_group.launch
# Modify manually the argument camera by default to true
exit
ro
reboot

Be aware that in both cases the changes are permanent. In the first option, you will need to remove the deployed_ws from the robot in the home folder, and in the second case, you would need to undo the changes manually if you don't want to use the camera.

Known issues

There are some small known issues. Some are going to be resolved, others we simply have to live with.

Noisy joint

The left shoulder of TIAGo sometimes keeps making noise even when not moving. I found that pushing the arm forward on the elbow with some force stops the noise.

Misaligned point cloud

The point cloud generated with the RGBD camera is not aligned with the world. I submitted a ticket to PAL and am waiting for their reply.