Manipulation
Controllers
Tiago provides the following ros2_control controllers for joints control of type FollowJointTrajectory:
Component |
ROS2 Action Name |
Arm |
/arm_controller/follow_joint_trajectory |
Gripper |
/gripper_controller/follow_joint_trajectory |
Head |
/head_controller/follow_joint_trajectory |
Torso |
/torso_controller/follow_joint_trajectory |
while publishing the following topics for joints state feedback of type JointTrajectory:
Component |
ROS2 Topic Name |
Arm |
/arm_controller/controller_state |
Gripper |
/gripper_controller/controller_state |
Head |
/head_controller/controller_state |
Torso |
/torso_controller/controller_state |
Moveit2 move_group
Tiago provides the following planning groups
# |
Planning Group |
1 |
arm |
2 |
arm_torso |
3 |
gripper |
Note
head_controller is not available in move_group, so you have to control it directly using its action server.
Getting Started
Start Gazebo simulation
ros2 launch tiago_sim tiago_sim.launch.py
Start move_group node
ros2 launch tiago_moveit_config move_group.launch.py
Start rviz2 (Optional)
ros2 launch tiago_moveit_config moveit_rviz.launch.py