Example TIAGo

TIAGo robot combines perception, navigation, manipulation & Human-Robot Interaction skills out of the box!
  - PAL Robotics

The TIAGo package contains two examples. One example does SLAM and the other provides a navigation tool. Those examples are slightly different with the ones of the TurtleBot3 Burger as Tiago run the SLAM and the navigation directly from its launcher file.

TIAGo SLAM

Run the launch file of the TIAGo with the following options:

ros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam:=true

In the second terminal launch teleop_twist_keyboard with:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

You are now able to move the robot in the scene while the map is drawn RViz.

TIAGo Navigation

Run the launch file of the TIAGo with the following options:

ros2 launch webots_ros2_tiago robot_launch.py rviz:=true nav:=true

Then set the initial pose by clicking on the 2D Pose Estimate button in RViz2 and finally choose a goal position with the Navigation2 Goal button. The robot will plan a trajectory and move to the pose you defined.