STERO2

This repository contains the launch files to simulate the TIAGo robot in ROS 2.

Setup

Prerequisites

1. Install ROS 2 Iron by following the installation instructions.

2. Update the apt package index and install needed packages

sudo apt-get update

sudo apt-get install git python3-vcstool python3-rosdep python3-colcon-common-extensions

Setting up the workspace

Create a workspace and clone all repositories:

mkdir -p ~/tiago_public_ws/src
cd ~/tiago_public_ws
vcs import --input https://raw.githubusercontent.com/RCPRG-ros-pkg/STERO2/refs/heads/iron/tiago_public_stero.repos src

Install dependencies using rosdep

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src --rosdistro iron

Source the environment and build

source /opt/ros/iron/setup.bash
colcon build --symlink-install

Finally, before running any application you have to source the workspace

source ~/tiago_public_ws/install/setup.bash

Also you can add it to your .bashrc

Simulation

Nav2 + rviz2 + MoveIt!

Launch gazebo simulation:

ros2 launch tiago_gazebo tiago_gazebo.launch.py navigation:=True moveit:=True is_public_sim:=True use_grasp_fix_plugin:=True

Launch description

Simulated Tiago robot is a complex system. The main launch file includes a lot of other launch files.

Visualization of launch description

To get track of all nodes, executable, variables ,substitutions, etc., you can use show_launch_description.py tool. It is much more powerful than ros2 launch -p.

show_launch_description.py ~/tiago_public_ws/src/tiago_simulation/tiago_gazebo/launch/tiago_gazebo.launch.py