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 runs the SLAM and the navigation directly from its launcher file.

Prerequisite

To run this example, you need the Navigation 2 package. You can install it with

sudo apt install ros-humble-nav2-bringup

For the SLAM part, you will need slam_toolbox for version 2023.0.2 and earlier:

sudo apt install ros-humble-slam-toolbox

For the SLAM part, you will need Cartographer for versions 2023.0.3 and later:

sudo apt install ros-humble-cartographer-ros

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.