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TIAGo OMNI Base Tutorials

These tutorials have been created to learn how to use TIAGo OMNI Base, the omnidirectional mobile robot by PAL Robotics, in the Gazebo simulation environment running on an Ubuntu computer.

It is not meant for development on real robots since more functionalities are available in the docker/ISO provided to customers when purchasing the robot.

TIAGO-omni-base_front logos.png

Contents

Tutorials Installation

  1. Installing Ubuntu with ROS + TIAGo OMNI Base

    This tutorial describes the steps needed to get a proper Ubuntu and ROS installation to have a system up and running for the TIAGo OMNI Base tutorials.

  2. Installing TIAGo OMNI Base Tutorial Docker

    How to pull and launch a docker all set up for the TIAGo OMNI Base Tutorial with melodic or noetic

  3. Testing the simulation

    Testing the simulation of TIAGo OMNI Base in Gazebo

install_tutorial_v2.jpg

Autonomous navigation

If you are using a computer with a non-dedicated GPU and run into issues with the lasers in simulation you would need to change this environment variable:

export LIBGL_ALWAYS_SOFTWARE=1

  1. Create a map with gmapping

    This tutorial shows how to create a map of the environment using the range-finder on the TIAGo OMNI Base.

  2. Localization and path planning

    Learn how to run laser-based localization and autonomous navigation avoiding obstacles by means of global and local path planning.

omni_navigation.png

Create a new tutorial:

2024-11-09 12:59