Robot Documentation

TIAGo ID

Name: tiago-137c
Model: TIAGo
S.N.: 137
P.N.: 5178015001

PAL Support Platform

https://support.pal-robotics.com/support/home

TIAGo Development PC Ubuntu Image

https://ulisboa-my.sharepoint.com/:u:/g/personal/ist189225_tecnico_ulisboa_pt/EU2sUI9ao8VGvuOR6qjQhCcBy4_iwu32tgZgvLUX7KzO9w?e=FaoHbi

Jetson NX (tiagonx-SocRob)

IP (ext router): 192.168.1.104
user: tiagonx
pass: mariachi

Tiago Acer U18 (development)

IP (ext router): 192.168.1.102
user: pal
pass: pal
user: root
pass: palroot

Tiago Asus U20 (pal2-Tiago)

IP (ext router): 192.168.1.101
user: pal2
pass: pal

Tiago Robot (tiago-137c)

IP (roah): 10.2.0.28
IP (ext router): 192.168.1.100
IP (robot network): 10.68.0.1
user: pal
pass: pal
user: root
pass: palroot

Web commander (robot must be on):

http://$ROBOT_IP:8080

Export robot roscore, topics, etc:

export ROS_MASTER_URI=http://$ROBOT_IP:11311 && export $ROS_IP=`get_interface_that_pings $ROBOT_IP | get_ip_of_interface` && export ROS_HOSTNAME=$ROS_IP
or use alias:
export_tiago_lan

Access the robot:

ssh root@$ROBOT_IP
or use the alias:
tiago_lan

Online documentation:

TIAGO Docs \

TIAGO HANDBOOK 2021 \

TIAGO HANDBOOK 2021 (Old link - not working) \

TIAGO Specs

To send packages to the robot please see section 'Deploying software on the robot' in the online documentation. Packages cannot be sent using scp commands.

Router Login

Advanced > Operation Mode > Wireless (Use Internet through lan cable)
Advanced > Operation Mode > 3G/4G (Use Internet through LTE)

IP: 192.168.1.1
user: socrob
pass: mariachi

Write File System

Enter:

rw
chroot /ro

or

enter_rw

Exit:

exit
ro

Copy Files/Folders to/from robot

scp_to_asus1 <source_path> <destination_path>

scp_from_asus1 <source_path> <destination_path>

Time Synchronization Setup with NTP (ntpd)

PAL Support Issue

Manually force time update:

tiago_lan
sudo service ntp stop
sudo ntpd -gq
sudo service ntp start
systemctl restart ntp.service
systemctl restart systemd-timesyncd.service

For laptops with chrony installed:

sudo systemctl restart chrony.service
sudo chronyd -q

Check the current time: date

Router 3G/4G

PIN: 2940

Downlowad Speed: ~26.68 MBs

Upload Speed: ~19.61 MBs

1. Insert SIM Card in the Router, either when its on or off.
2. Go to the router web interface (http://192.168.1.1/) and insert the password (mariachi).
3. After entering the password, appears a message saying that the SIM Card is locked.
4. To fix it, go to Advanced > Network > PIN Managment to enter the PIN and unlock the SIM Card, or just press "Go to unlock".
5. After entering the PIN check the box that allows the router to insert the PIN automatically.
6. After that, go to the router settings in the web interface and change the operation mode of the router to 3G/4G Router.
7. Wait until the router reboots, after that you'll have internet in the router. 8.When abroad go to Advanced > Network > Internet and enable Roaming.