restart_head_wiki - IRS-group/isr_tiago_docs GitHub Wiki

There is a node called head_manager that runs by default in all TIAGo robots which you can easily stop by connecting to the WebCommander and in the Startup tab look for the head_manager button and press Stop. This will cool the TIAGo's head down, but if that is not enough you can additionally disassemble the back head cover. You can find a video tutorial on how to remove the covers of the head here. The video is in fact of the change of the head motors, just the beginning of the video will suffice for your needs. After that make sure that the cables do not get stuck as this will not make the problem disappear. Finally, you can execute the following command instead of rebooting the robot:

pal-stop deployer && pal-stop ros_bringup && pal-start ros_bringup && sleep 5s && pal-start deployer