EasyNav TIAGo Playground: description

The model of PAL Robotics’ TIAGo used by the EasyNav playgrounds: URDF, meshes and the ros2_control controllers. It depends neither on Gazebo nor on EasyNav: easynav_playground_tiago_worlds simulates it, and easynav_playground_tiago navigates with it.

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_description
source install/setup.bash

To get the URDF:

xacro $(ros2 pkg prefix easynav_playground_tiago_description)/share/easynav_playground_tiago_description/urdf/tiago.urdf.xacro

The TIAGo model

urdf/tiago.urdf.xacro is PAL’s TIAGo description expanded once with PAL’s default configuration: base pmb2, arm tiago-arm with wrist wrist-2010, force/torque sensor schunk-ft, end effector pal-gripper, laser sick-571 and camera orbbec-astra. It was expanded from the Gazebo Harmonic ports of PAL’s packages (Tiago-Harmonic: tiago_robot 29211f4, pmb2_robot a9c09d2, pal_gripper b6eec0f), and only the meshes it uses were copied. The controller values (config/tiago_controllers.yaml) come from PAL’s tiago_controller_configuration, pmb2_controller_configuration and pal_gripper_controller_configuration.

Changes from PAL’s model, for this simulation:

• The meshes and the controllers file point to this package.
• The head camera has a gz_frame_id: without it, its point cloud carried Gazebo’s internal sensor name as frame.
• The wheels’ velocity command limit is the wheel joint’s (10.15 rad/s, 1 m/s) instead of 1 rad/s (0.1 m/s), which made the base crawl.
• The arm and torso start in PAL’s home posture (initial_value in ros2_control), instead of tucking the arm with play_motion2 at startup.

Package layout

Authors and licensing

This package was put together by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos), and is licensed under Apache-2.0; see LICENSE.

It includes third-party work under its own copyright and licenses:

• The TIAGo robot model (urdf/, meshes/) and the values of its controllers (config/) are the work of PAL Robotics: Copyright (c) 2022-2024 PAL Robotics S.L. All rights reserved. They are licensed under the Apache License 2.0 (see LICENSE), and come from PAL’s tiago_robot, pmb2_robot and pal_gripper, through their Gazebo Harmonic ports at Tiago-Harmonic. TIAGo is a robot by PAL Robotics.

The PAL Robotics logo below is PAL Robotics’ own, used as published in its brand guidelines, unmodified.

Changelog for package easynav_playground_tiago_description

0.5.0 (2026-10-08)

• First release, in the easynav_playgrounds repository: the PAL Robotics' TIAGo model (URDF, meshes and controllers), without Gazebo or EasyNav dependencies
• Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez