TIAGo ROS2 simulation tutorial

Purpose

This tutorial shows how to make simulate TIAGo with ROS2 in gazebo.

Pre-Requisites

First make sure that the tutorials are properly installed along with the TIAGo simulation, as shown in the tutorials installation section.

Execution

First of all open one consoles and source ros setup

source /opt/ros/foxy/setup.bash

Now you can launch the TIAGo simulation

ros2 launch tiago_gazebo tiago_gazebo.launch.py

If you want to choose the type of end effector of the robot you can use the launch argument:

ros2 launch tiago_gazebo tiago_gazebo.launch.py end_effector:=pal-gripper

ros2 launch tiago_gazebo tiago_gazebo.launch.py end_effector:=pal-hey5