Bringing Up the Stack

The tiago_bringup.launch.py file is your one-stop command to get everything running: Gazebo, Nav2, MoveIt2, and the ArUco detection stack. Once it is up, you are ready to launch any behavior tree demo.

Basic usage

ros2 launch tiago_demos tiago_bringup.launch.py

This starts everything using the default minimal_world. For a richer environment, pass a different world name:

ros2 launch tiago_demos tiago_bringup.launch.py world:=world

Launch arguments

Argument	Default	Description
`world`	`minimal_world`	Gazebo world to load. See Simulation Worlds for the full list.

What gets launched

Under the hood, tiago_bringup.launch.py fires up four things:

tiago_sim - Gazebo server and client with the selected world and the TiAGo robot spawned inside it.
tiago_nav2 - The full Nav2 navigation stack (planner, controller, lifecycle manager, etc.).
tiago_moveit2 - The MoveIt2 move_group node for arm planning.
aruco - The ArUco marker detection and TF broadcast nodes, needed by the pick-and-place demos.

Checking that everything is ready

After launching, watch the terminal output. Nav2 logs a lot during startup. You are good to go once you see messages like:

[lifecycle_manager]: All nodes are active and ready!

At that point, open a new terminal and launch your behavior tree.

Tip

If Nav2 takes a long time to activate, it usually means Gazebo is still loading. Give it a bit more time before trying to launch a demo.