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tiago_multi package from tiago_simulation repo

tiago_gazebo tiago_multi tiago_simulation

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Package Summary

Tags No category tags.
Version 2.0.23
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/tiago_simulation.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-10-17
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The tiago_multi package

Additional Links

Maintainers

  • davidfernandez

Authors

No additional authors.
tiago_multi/README.md

Multiple Tiago simulation

This project contains several launch files to simulate multiple Tiago robots in a single Gazebo environment.

The environment

In order to have multiple Tiago robots coexisting in the same environment some modifications need to be done. All the nodes belonging to a specific robot are pushed into its own namespace. In addition its tf tree is prepended with the same name as a tf_prefix.

This generates a single tf tree that has a map root, and then, for each robot, a classic robot/map -> robot/odom -> robot/base_footprint tree, were robot is this robot’s tf_prefix.

Launchfiles

The launch files in this package allow you to: launch a Tiago in a specific namespace (with or without navigation), with its tf tree prefixed with the provided namespace; launch a key_teleop node on a specific namespace; and finally an example with two Tiago robots in the pal office environment (with or without navigation).

teleop_tiago.launch

Utility launch that runs a key_teleop node in the namespace provided in the robot parameter.

launch_tiago.launch & launch_tiago_navigation.launch

Those are the main launch files of this package. The launch files contain all the required arguments to launch a new Tiago in its own namespace, adding the model to gazebo, launching its controllers and, in case, launch its navigation stack. The launch file has three mandatory parameters:

  • robot_name Namespace to which this robot’s nodes will be pushed (its tf tree will use the same name as the tf_prefix).
  • x_pose X coordinate of the initial pose of the robot on the map.
  • y_pose Y coordinate of the initial pose of the robot on the map. It is important to make sure that the different robots start at different coordinates of the map to avoid overlapping.

In addition the following parameters may be modified:

  • robot Model of robot to be instantiated (either steel or titanium, for gripper or hand respectively). Default: steel.
  • world Gazebo world that will be used. Default: small_office.
  • map Map file for amcl. Default: ~/.pal/tiago_maps/configurations/small_office
  • public_sim Set to true when using the public version of the Tiago simulation. This parameter should not be changed.

For the navigation launch, in addition, the following parameters may be modified:

  • planner Planner for the navigation. Default: base (move_base planner).
  • global_planner Global navigation planner. Default: global_planner.
  • local_planner Local navigation planner. Default: eband (eband_planner).
  • localization Localizacion stack. Default: amcl.

multitiago_gazebo.launch & multitiago_gazebo.launch

Those launch files launches two default Tiago robots in a pal_office environment. They may be used as an example on how to build your specific multi-robot launch.

CHANGELOG

Changelog for package tiago_multi

2.0.23 (2020-07-30)

  • Merge branch 'rename_tf_prefix' into 'erbium-devel' Rename tf_prefix to robot_namespace See merge request robots/tiago_simulation!70
  • Rename tf_prefix to robot_namespace
  • Contributors: davidfernandez, victor

2.0.22 (2020-04-21)

2.0.21 (2020-02-26)

  • Merge branch 'fix-multi-sim' into 'erbium-devel' fixed multi sim rgbd scan See merge request robots/tiago_simulation!67
  • cosmetic
  • fixed multi sim rgbd scan
  • Contributors: Procópio Stein, victor

2.0.20 (2019-11-04)

2.0.19 (2019-10-23)

2.0.18 (2019-10-15)

2.0.17 (2019-10-15)

  • Merge branch 'refactor' into 'erbium-devel' Refactor See merge request robots/tiago_simulation!64
  • consolidated public launches
  • removed map relays
  • Contributors: Procópio Stein, Victor Lopez

2.0.16 (2019-10-10)

2.0.15 (2019-09-25)

2.0.14 (2019-09-23)

2.0.13 (2019-09-23)

2.0.12 (2019-08-07)

2.0.11 (2019-08-01)

2.0.10 (2019-07-17)

  • Merge branch 'multi_pmb2' into 'erbium-devel' Fix multi tiago private simulation See merge request robots/tiago_simulation!53
  • Fix multi tiago private simulation
  • Contributors: Adria Roig, Victor Lopez

2.0.9 (2019-07-09)

2.0.8 (2019-07-03)

  • Merge branch 'more_fixes' into 'erbium-devel' more fixes on moved launch files See merge request robots/tiago_simulation!51
  • more fixes on moved launch files
  • Contributors: Sai Kishor Kothakota, Victor Lopez

2.0.7 (2019-06-17)

  • Merge branch 'teb_planner' into 'erbium-devel' Add TEB planner See merge request robots/tiago_simulation!49
  • Add TEB planner
  • Contributors: Victor Lopez, davidfernandez

2.0.6 (2019-03-26)

2.0.5 (2019-03-14)

2.0.4 (2019-02-26)

  • Merge branch 'multi_simulation' into 'erbium-devel' Fix multitiago simulation See merge request robots/tiago_simulation!48
  • Fix multitiago simulation
  • Contributors: Victor Lopez, davidfernandez

2.0.3 (2019-01-23)

2.0.2 (2019-01-23)

2.0.1 (2018-12-20)

2.0.0 (2018-12-19)

  • Merge branch 'specifics-refactor' into 'erbium-devel' Add advanced navigation option to tiago_navigation.launch See merge request robots/tiago_simulation!45
  • Adapt launch files to new args
  • Contributors: Victor Lopez

1.0.11 (2018-11-26)

1.0.10 (2018-11-26)

1.0.9 (2018-10-26)

1.0.8 (2018-09-28)

  • Merge branch 'fix-default-planner' into 'erbium-devel' fixed default planner to global_planner See merge request robots/tiago_simulation!41
  • fixed default planner to global_planner
  • Contributors: Jordan Palacios, Procópio Stein

1.0.7 (2018-07-30)

1.0.6 (2018-07-06)

1.0.5 (2018-06-05)

1.0.4 (2018-05-16)

1.0.3 (2018-04-10)

1.0.2 (2018-03-29)

1.0.1 (2018-03-26)

1.0.0 (2018-03-26)

0.0.18 (2018-03-21)

0.0.17 (2018-02-20)

0.0.16 (2018-02-16)

0.0.15 (2018-01-24)

0.0.14 (2017-11-07)

0.0.13 (2017-11-02)

  • fixed pal_office world for tiago navigation, added script to create the tiago pose files, modified the launch files to have tiago_multi with and without navigation
  • Fix Cmakelist after map added
  • Added map to multi tiago example
  • add rviz config file for multi tiago example
  • Contributors: AleDF, Jordi Pages

0.0.12 (2017-05-30)

0.0.11 (2017-05-16)

  • Allow multiple Tiagos to use the navigation stack
  • Allow multiple Tiagos on Gazebo Fixes #15402
  • Contributors: David Fernandez, davidfernandez
  • Allow multiple Tiagos to use the navigation stack
  • Allow multiple Tiagos on Gazebo Fixes #15402
  • Contributors: David Fernandez, davidfernandez

0.0.10 (2016-10-21)

0.0.9 (2016-10-14)

0.0.8 (2016-07-08)

0.0.7 (2016-06-15 12:00)

0.0.6 (2016-06-15 11:36)

0.0.5 (2016-06-15 10:48)

0.0.4 (2016-06-15 09:51)

0.0.3 (2016-06-14)

0.0.2 (2015-04-15 12:26)

0.0.1 (2015-04-15 12:14)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
catkin
tiago_gazebo

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/multitiago_gazebo_navigation.launch
      • world [default: pal_office]
      • gui [default: true]
      • debug [default: false]
      • public_sim [default: true]
      • map [default: $(find tiago_multi)/config/map]
  • launch/launch_tiago_navigation.launch
      • robot_name
      • x_pose
      • y_pose
      • arm [default: True]
      • end_effector [default: pal-hey5]
      • ft_sensor [default: schunk-ft]
      • laser_model [default: sick-571]
      • camera_model [default: orbbec-astra]
      • world [default: small_office]
      • planner [default: base]
      • global_planner [default: global_planner]
      • localization [default: amcl]
      • map [default: $(env HOME)/.pal/tiago_maps/configurations/$(arg world)]
      • public_sim [default: true]
      • local_planner [default: $(eval 'teb' if arg('public_sim') else 'pal')]
      • gzpose [default: -x $(arg x_pose) -y $(arg y_pose) -z 0.0 -R 0.0 -P 0.0 -Y 0.0]
  • launch/teleop_tiago.launch
      • robot [default: ]
  • launch/launch_tiago.launch
      • robot_name
      • x_pose
      • y_pose
      • arm [default: True]
      • end_effector [default: pal-hey5]
      • ft_sensor [default: schunk-ft]
      • laser_model [default: sick-571]
      • camera_model [default: orbbec-astra]
      • world [default: small_office]
      • map [default: $(env HOME)/.pal/tiago_maps/configurations/$(arg world)]
      • public_sim [default: true]
      • gzpose [default: -x $(arg x_pose) -y $(arg y_pose) -z 0.0 -R 0.0 -P 0.0 -Y 0.0]
  • launch/multitiago_gazebo.launch
      • world [default: pal_office]
      • gui [default: true]
      • debug [default: false]
      • public_sim [default: true]
      • map [default: $(find tiago_multi)/config/map]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged tiago_multi at Robotics Stack Exchange