Machine (Tiago's development computer and personal computer)

Testing on development machine with gazebo

In one termninal, run the following command to start tiago in gazebo:

For Tiago's development computer:

roslaunch /opt/pal/ferrum/share/tiago_gazebo/launch/tiago_gazebo.launch

public_sim:=true robot:=steel end_effector:=schunk-wsg

For personal computer:

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

end_effector:=schunk-wsg

Tiago also has other end effector: pal-gripper, pal-hey5

In another, run the following command top stop the default controllers on Tiago:

python /opt/openrobots/share/sot-tiago/tests/stop-controllers.py

On the third terminal, run the following command to start the SoT controllers on Tiago:

roslaunch roscontrol_sot_tiago controller.launch use_mobile_base:=false

simulation:=true end_effector:=schunk-wsg

Finally, on the second terminal, run the following command to test

python /opt/openrobots/share/sot-tiago/tests/test.py

To move the "wrist" to another position:

First, Interacting with the dynamic_graph

rosrun dynamic_graph_bridge run_command

Define the new target and command the wrist to the new position

>> target = (0.5,0.5,0.5)
>> gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))

While interacting with the dynamic_graph, some informations of the robots could be accessed using these attributes:

Base on the key - value pairs, the 'wrist' is actually 'arm_7_joint' which is the revolute joint between 'arm_6_link' and 'arm_7_link'

>> robot.OperationalPointsMap

{'left-wheel': 'wheel_left_joint', 'mobilebase': 'root_joint', 'gaze':

'head_2_joint', 'wrist': 'arm_7_joint', 'right-wheel': 'wheel_right_joint', 'footprint': 'base_footprint_joint'}

The command below show the current state of the joints

>>robot.device.display()
TIAGOSTEEL:  -0.0585965
  -0.285931
          0
          0
          -0
    0.932487
    0.300101
    0.057052
  -0.0107958
    -1.5708
    0.324973
      1.5708
    -1.41372
4.19303e-12
  0.0306143
-0.000700038
-0.00907566

If Gazebo doesn't launch because you don't have a good graphic card, you can add this line to your .bashrc file :

export LIBGL_ALWAYS_SOFTWARE=1

Possible errors:

Bound Violations:

These errors are the limits of either the angle positions of the revolute joints or the angular velocities.

[ERROR] [1580719697.970259151, 86.019000000]: [TIAGOSTEEL]Robot position

bound violation at DoF 6: requested -0.000525127 but set 0

The location of the value is set in the urdf file of the robot ("tiago_data/robots/tiago_steel.urdf")

For example, the configure of the revolute joint of arm 4.

<joint name="arm_4_joint" type="revolute">
    <parent link="arm_3_link"/>
    <child link="arm_4_link"/>
    <origin rpy="-1.57079632679 -1.57079632679 0.0" xyz="-0.02 -0.027

-0.222"/> <axis xyz="0 0 1"/> <limit effort="17.86" lower="-0.392699081699" upper="2.35619449019" velocity="4.58"/> <dynamics damping="1.0" friction="1.0"/> <safety_controller k_position="20" k_velocity="20" soft_lower_limit="-0.322699081699" soft_upper_limit="2.28619449019"/> </joint>

Tiago's pose at start

The robot's pose is not zero in all axes. So the pose of the end-effector is affected a little.