Navigation Demo

The our_map_example behavior tree is a simpler demo focused on multi-waypoint navigation and basic body movements (head and torso). It is a great starting point if you are new to behavior trees or just want to see TiAGo move around without the complexity of manipulation.

Before you start

Bring up the stack. Either the test_world or the full world works here:

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

Running the demo

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

What happens step by step

Setup - Initializes the controller names for the head and torso, and loads the joint trajectory definitions.
Navigate to Office - Drives to the Office waypoint (-8.25, -7.0 on the map, facing 180 degrees).
Head sweep - Executes a head sweep motion, like TiAGo is scanning the area.
Torso up - Raises the torso to its upper position.
Torso down - Lowers the torso back down.
Navigate to Trash - Drives to the Trash waypoint (-1.70, -5.5 on the map).

The whole sequence runs once and exits (no retry loop, unlike the pick demo).

Predefined waypoints

Both locations used in this demo come from tiago_demos/config/map_locations.yaml:

Office:
  frame_id: map
  pose:
    x: -8.25
    y: -7.0
    z: 0.0
    yaw_deg: 180.0

Trash:
  frame_id: map
  pose:
    x: -1.70
    y: -5.5
    z: 0.0
    yaw_deg: 90.0

All six predefined waypoints in the config file are:

Location	X	Y	Yaw
Dining	4.48	5.93	0 deg
Bedroom	6.0	-2.57	135 deg
Kitchen	-2.94	-1.75	0 deg
Trash	-1.70	-5.5	90 deg
Closet	-8.5	7.0	180 deg
Office	-8.25	-7.0	180 deg

Want to add your own waypoints? Just add a new entry to the YAML file following the same format and reference it in your behavior tree as {loc.YourLocationName}.

What to try next

Once you are comfortable with this demo, check out Pick Object Demo for a more advanced walkthrough involving arm manipulation and object grasping. Or head over to Custom Behavior Trees to start building your own tree.