sim_wiki - IRS-group/isr_tiago_docs GitHub Wiki

To install TiaGo simulation on Gazebo just follow these steps:

http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/InstallUbuntuAndROS

To run TiaGo inside the ISR-Testbed, run the following command:

roslaunch mbot_simulation_environments tiago_isr_testbed.launch

To run navigation inside this environment, please run in another terminal:

roslaunch mbot_simulation_environments sim_navigation.launch

This launch file was based on pal's "tiago_2dnav_gazebo/launch/navigation.launch". Additionally, it also launches the navigation goals by including the file "navigation_mbot/launch/nav_common.launch".

You can also open rviz using the command bellow to set the initial pose estimate and to define navigation goals:

rosrun rviz rviz -d $HOME/tiago_ws/src/tiago_navigation/tiago_2dnav/config/rviz/navigation.rviz


In rviz, the simplest navigation goals can be published by choosing the pink 2D Nav Goal button, and placing on the map the arrow pointing in the desired robot goal pose




Troubleshooting

Notes for Ubuntu 20.04 LTS:

While following "Installing Ubuntu with ROS + TIAGO (Noetic)"

1. If you have missing dependencies issues:

    1.1.  Check missing elements:  
            ``rosdep check --from-paths /home/<user_path>/ros_ws/src --ignore-src``

    1.2.  To install all missing SYSTEM dependencies run:   
            ``rosdep install --from-paths /home/<user_path>/ros_ws/src --ignore-src -r -y``

After following guide "Installing Ubuntu with ROS + TIAGO (Noetic)"

1.  When launching ISR-Testbed Simulation:

    1.1.  If gazebo client crashes relaunch gui via command - ``gzclient``.

    1.2.  If gazebo client crashes with a box dimensions error comment out camera startup section in file ``isr-testbed.world`` (at isr_tiago/simulation/mbot_simulation_environments/worlds).

    1.3.  If laser scan is not showing in gazebo gui and running ``rt echo /scan_raw`` returns messages with the ``ranges``  array full of <inf.> values access file ``sick_tim571_laser.gazebo.xacro`` (at pmb2_robot/pmb2_description/urdf/sensors) and change the following lines:

            <sensor type="gpu_ray" name="${name}"> to <sensor type="ray" name="${name}">
            <plugin filename="libgazebo_ros_gpu_laser.so" name="gazebo_ros_sick_laser"> to <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_sick_laser">

2.  When running ``roslaunch tiago_2dnav_gazebo navigation.launch``: 
    
    2.1. Access the ``navigation.launch`` file (at tiago_simulation/tiago_2dnav_gazebo/launch) and modify the following lines:

            <arg name="local_planner"   default="pal"/> to <arg name="local_planner"  default="eband"/>
            <arg name="public_sim"  default="false"/> to <arg name="public_sim"   default="true"/>
            <arg name="map"   default="$(env HOME)/.pal/tiago_maps/config"/> to  <arg name="map"   default="$(find mbot_world_model)/maps/isr-testbed-sim"/>

    2.2.  If at run time you have rgbd_scan buffer warnings turn the ``enable`` parameter of ``obstacle_rgbd_layer`` to false in ``global_costmap_public_sim.yaml`` and ``local_costmap_public_sim.yaml`` (at pal_navigation_cfg_public/pal_navigation_cfg_tiago/config/base/common).

Gazebo simulation issues

  • Objects rendering problems:

sudo apt-get install ros-noetic-cob-gazebo-objects

  • Objects missing in the simulation:

    1. Navigate to mbot_simulation_environments/models/isr-testbed/

    2. Search in all .sdf files (ctrl+shift+f in most editors) and look for the keyword kinetic

    3. For every .sdf file, in the key <visual name>.<pose frame>.<geometry>.<mesh>.<uri> it should be something like:

      1. /opt/ros/kinetic/share/cob_gazebo_objects/Media/models/table_living_room.dae

      2. modify the kinetic distribution to yours, e.g. melodic or noetic

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