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easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	kilted
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
lyrical

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	lyrical
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

No version for distro github showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_playground_tiago package from easynav_playgrounds repo

easynav_playground_kobuki easynav_playground_kobuki_description easynav_playground_kobuki_worlds easynav_playground_omni easynav_playground_omni_description easynav_playground_omni_worlds easynav_playground_summit easynav_playground_summit_description easynav_playground_summit_worlds easynav_playground_tiago easynav_playground_tiago_description easynav_playground_tiago_worlds

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version	0.5.0
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_playgrounds.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-10-08
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation playground with TIAGo: EasyNav configurations and launchers for the TIAGo simulation (costmap and NavMap + Bonxai).

Maintainers

Francisco Martín Rico

Authors

Francisco Martín Rico

playground_tiago/easynav_playground_tiago/README.md

EasyNav TIAGo Playground

EasyNav configurations for PAL Robotics’ TIAGo in a Gazebo simulation (Harmonic or newer) of the AWS RoboMaker small house. The simulated TIAGo has its mobile base (pmb2), lifting torso, pan-tilt head with an RGBD camera, 7-DoF arm with the PAL gripper and wrist force/torque sensor, base laser, sonars and IMU.

The TIAGo playground is made of three packages:

Package	Contents
`easynav_playground_tiago_description`	TIAGo’s model: URDF, meshes and ros2_control controllers. No Gazebo, no EasyNav
`easynav_playground_tiago_worlds`	The Gazebo simulation: the small house world, its maps, and the launchers that spawn TIAGo with its controllers and the ROS–Gazebo bridge. No EasyNav
`easynav_playground_tiago`	The EasyNav configurations and launchers

Supported ROS 2 distributions

This playground needs Gazebo Harmonic or newer, so it runs on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only this simulation does not.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_tiago
source install/setup.bash

Launch EasyNav

Each easynav_<config>.launch.yaml starts Gazebo, TIAGo, EasyNav with that configuration and RViz2:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml

Once RViz2 is up, send a goal with the 2D Goal Pose tool.

Launch file	Maps	Localizer	Planner	Controller
`easynav_costmap_rpp.launch.yaml`	Costmap from `home2.yaml`	Costmap AMCL with the base laser	Costmap	Regulated Pure Pursuit
`easynav_navmap_bonxai_amcl.launch.yaml`	NavMap `home2_20cm.navmap` and Bonxai `house.pcd`	NavMap AMCL against the Bonxai map, with the base laser and the head camera	NavMap A*	Regulated Pure Pursuit

The maps are in easynav_playground_tiago_worlds. The parameters are in params/costmap.rpp.params.yaml and params/navmap.bonxai.amcl.params.yaml.

Launch arguments

Argument	Default	Description
`params_file`	Per launch file	EasyNav parameters file
`rviz_config`	Per launch file	RViz2 configuration file
`gui`	`true`	Set to `false` to run Gazebo headless
`rviz`	`true`	Set to `false` to skip RViz2

For example, to run headless with your own parameters:

ros2 launch easynav_playground_tiago easynav_costmap_rpp.launch.yaml gui:=false params_file:=/path/to/my.params.yaml

Notes for other configurations

TIAGo’s base laser is 0.095 m above the floor. EasyNav’s localizers and obstacle filters drop points below min_height (0.1 m by default) as floor hits, so these configurations set min_height: 0.05. Do the same in your own parameters, or the laser is ignored.
The base takes geometry_msgs/TwistStamped, so EasyNav runs with use_cmd_vel_stamped: true, and the launch files remap cmd_vel_stamped to /mobile_base_controller/cmd_vel and odom to /mobile_base_controller/odom.

Package layout

Directory	Contents
`launch/`	EasyNav launch files, in YAML
`params/`	EasyNav parameters, one file per configuration
`rviz/`	RViz2 configurations

Authors and licensing

This package was developed by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE. The TIAGo model is PAL Robotics’ work: see easynav_playground_tiago_description.

CHANGELOG

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

First release, in the easynav_playgrounds repository: EasyNav launchers and parameters for the PAL Robotics' TIAGo: costmap with RPP, and NavMap and Bonxai with NavMap AMCL configurations
Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez

Package Dependencies

Deps	Name
	ament_cmake
	easynav_bonxai_maps_manager
	easynav_costmap_localizer
	easynav_costmap_maps_manager
	easynav_costmap_planner
	easynav_diagnostic_recovery
	easynav_navmap_localizer
	easynav_navmap_maps_manager
	easynav_navmap_planner
	easynav_playground_tiago_worlds
	easynav_regulated_pp_controller
	easynav_system
	launch
	launch_ros
	launch_yaml
	navmap_rviz_plugin
	rviz2
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

API Docs Browse Code Wiki

easynav_playground_tiago package from easynav_playgrounds repo

ROS Distrojazzy

Package Summary

Repository Summary

Package Description

Maintainers

Authors

EasyNav TIAGo Playground

Supported ROS 2 distributions

Build

Launch EasyNav

Launch arguments

Notes for other configurations

Package layout

Authors and licensing

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged easynav_playground_tiago at Robotics Stack Exchange

easynav_playground_tiago package from easynav_playgrounds repo

ROS Distrojazzy

Package Summary

Repository Summary

Package Description

Maintainers

Authors

EasyNav TIAGo Playground

Supported ROS 2 distributions

Build

Launch EasyNav

Launch arguments

Notes for other configurations

Package layout

Authors and licensing

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged easynav_playground_tiago at Robotics Stack Exchange

easynav_playground_tiago package from easynav_playgrounds repo

ROS Distrokilted

Package Summary

Repository Summary

Package Description

Maintainers

Authors

EasyNav TIAGo Playground

Supported ROS 2 distributions

Build

Launch EasyNav

Launch arguments

Notes for other configurations

Package layout

Authors and licensing

Changelog for package easynav_playground_tiago

0.5.0 (2026-10-08)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged easynav_playground_tiago at Robotics Stack Exchange

easynav_playground_tiago package from easynav_playgrounds repo

ROS Distrolyrical

Package Summary

Repository Summary

Package Description

ROS Distro
jazzy

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

ROS Distro
jazzy

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

ROS Distro
kilted

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

ROS Distro
lyrical

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

ROS Distro
jazzy

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange

ROS Distro
jazzy

Recent questions tagged `easynav_playground_tiago` at Robotics Stack Exchange