First Launch

Two terminals, two commands, and TiAGo is up and running a behavior tree. Here is the quickest path to seeing the robot move.

Terminal 1: bring up the simulation

This starts Gazebo, Nav2, MoveIt2, and the ArUco detection stack all at once:

ros2 launch tiago_demos tiago_bringup.launch.py

Wait until Gazebo is fully loaded and the Nav2 actionlib servers are active before moving on to the next step. You should see a lot of [INFO] logs from Nav2 settling into the ready state.

Terminal 2: run a behavior tree

Once the bringup is ready, launch one of the included demos:

ros2 launch tiago_demos tiago_demo.launch.py tree:=our_map_example

You should see TiAGo navigate to the Office location, do a head sweep, move its torso up and down, and then head over to the Trash location. That is the our_map_example behavior tree running end to end.

What’s next?

• Check out the available Simulation Worlds if you want to try a richer environment.

• Jump into the Bringing Up the Stack page for a full breakdown of all the launch arguments.

• Try the pick-and-place demo: Pick Object Demo.