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TIAGo Base AI Tutorials

These tutorials have been created to learn how to use TIAGo Base AI; the new mobile base 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_Base_AI.png

Contents

Tutorials Installation

  1. Installing Ubuntu with ROS + TIAGo Base AI

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

  2. Installing TIAGo Base AI Tutorial Docker

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

  3. Testing the simulation

    Testing the simulation of TIAGo Base AI 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 Base AI.

  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.

TIAGo_Base_AI_nav.png

Create a new tutorial:

2024-12-21 13:07