This package allows running different Gazebo worlds, including the AWS Robomaker worlds, using the TIAGo robot from PAL Robotics
** In the event of communication difficulties, please consider switching the DDS. Recommended: use Eclipse Cyclone DDS.
You can do this by installing it with sudo apt install ros-humble-rmw-cyclonedds-cpp and setting the RMW_IMPLEMENTATION environment variable: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. Add it to your .bashrc**
You need to have previously installed ROS 2. Please follow this guide if you don't have it.
source /opt/ros/humble/setup.bashClone the repository to your workspace:
cd <ros2-workspace>/src/
git clone https://github.com/jmguerreroh/tiago_simulator.git
Prepare your thirparty repos:
sudo apt update
sudo apt install python3-vcstool python3-pip python3-rosdep python3-colcon-common-extensions -y
cd <ros2-workspace>/src/
vcs import < tiago_simulator/thirdparty.reposPlease make sure that this last command has not failed. If this happens, rerun it.
cd <ros2-workspace>
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFFAdd it to your .bashrc file
source /usr/share/gazebo/setup.bash
source <ros2-workspace>/install/setup.bashros2 launch tiago_simulator simulation.launch.pyTo change the Gazebo world or the initial position/rotation of the TIAGo robot, you can modify the config/params.yaml file.
If you have a low performance and you have installed the NVIDIA driver, you can use your GPU by selecting the NVIDIA PRIME profile:
sudo prime-select nvidiaOtherwise, you can close the Gazebo client:
pkill -f gzclientAlso, you can use Nav2 with the robot in the world selected in config/params.yaml:
ros2 launch tiago_simulator navigation.launch.pyThis project was made by José Miguel Guerrero, Associate Professor at Universidad Rey Juan Carlos.
Copyright © 2024.
This work is licensed under the terms of the MIT license.
