TIAGo Robot Installation Guide and Task Execution Instructions

This document outlines the steps for setting up the TIAGo robot environment, including the installation of Ubuntu and ROS, the necessary hardware setup, and executing tasks for RoboCup@Home final task - Carry My Luggage.

Installation

1. Ubuntu and ROS Installation

   Follow the instructions on the ROS wiki to install Ubuntu and ROS for TIAGo: Install Ubuntu and ROS

   Use the following command to integrate TIAGo's public ROS workspace:

   rosinstall ./src /opt/ros/noetic tiago_public−noetic.rosinstall

2. Hardware Handbook

   For detailed information on TIAGo's hardware, refer to the PAL Robotics handbook: TIAGo Hardware Handbook

3. Web Manager

   Access the robot's web manager at: http://tiago-46c:8080/?&wtd=VtoPWd6ULoaYaohm

Prerequisite Downloads

Execute the following commands to install necessary packages and dependencies:

sudo apt install python3-pip
pip3 install deepspeech pyaudio numpy
# Download Deepspeech models and set permissions
wget https://github.com/mozilla/DeepSpeech/releases/download/v0.9.3/deepspeech-0.9.3-models.pbmm
wget https://github.com/mozilla/DeepSpeech/releases/download/v0.9.3/deepspeech-0.9.3-models.scorer
chmod 644 /home/jin/models/models.pbmm
chmod 644 /home/jin/models/models.scorer

Install PortAudio

sudo apt-get install portaudio19-dev
pip install pyaudio

Install Speech Processing Libraries

pip install SpeechRecognition
pip install vosk
pip install core
pip install gtts

ROS Dependencies

rosdep install --from-paths src --ignore-src -r -y

TIAGo Setup

Connecting to TIAGo

Set Timezone to UTC

sudo timedatectl set-timezone UTC

To SSH into TIAGo:

ssh [email protected]

To connect your computer to the robot, follow these steps: Access the robot's web interface at http://192.168.1.200

Update your machine's IP address ifconfig or use ip addr to find your IP address

Set ROS environment variables

export ROS_IP=192.168.1.<your ip addr>
export ROS_MASTER_URI=http://192.168.1.200:11311

Verify connectivity with the robot

ping 192.168.1.200 -c 4

ROS Setup

Before working with ROS packages, source the ROS setup files:

source /opt/ros/noetic/setup.bash

Kill any running Gazebo instances

killall gzserver
killall gzclient

Source ROS Noetic setup file

source /opt/ros/noetic/setup.bash
source /devel/setup.bash

RoboCup@Home Final Task Launch

Disable services using the web manager or command line

rosnode kill /head_manager
rosnode kill /map_server
rosnode kill /dock_charge_sm

Launch Navigation

roslaunch robocup_at_home_final_navigation navigation.launch

In the web browser, manage services: Kill move_base and localizer, then restart them

Launch vision system

cd YOLCAT-mini-Instance-segmentation
python3 detect_tiago_bodypose.py

Launch State Space Model

rosrun smach_viewer smach_viewer.py

Launch MoveIt! for motion planning

roslaunch tiago_moveit_config demo.launch

Launch the Project

roslaunch robocup_at_home_final_project final_task.launch

Additional Notes

Remote Control the Robot

To remote control of the robot use

rosrun key_teleop key_teleop.py

Note: The robot will not move if this script is running

Test bag grasping

roslaunch tiago_moveit_config demo.launch
rosrun robocup_at_home_final_project tf_grasp.py

Reset simulation environment if needed

killall gzserver
killall gzclient
rqt_graph

Control arm movement

rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
joint_names: ['arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint']
points:
- positions: [0.4, -1.17, -1.9, 2.3, -1.3, -0.45, 1.75]
  velocities: []
  accelerations: []
  effort: []
  time_from_start: {secs: 1, nsecs: 0}"

Use with the MoveIt! command to practice grasping

rosrun robocup_at_home_final_project try_moveit.py

Use rosrun to give the point, try to get the point from RViz.

TIAGo Robot Tutorials (Jin, David)

This repository contains a series of tutorials designed to guide users through various aspects of working with the TIAGo robot in ROS (Robot Operating System). Below are instructions for installing TIAGo, running simulations, performing object detection, navigation, perception, and robot manipulation.

Installation

To install TIAGo and ROS, follow the instructions provided in the TIAGo installation tutorial. Once installed, use the following command to set up the required packages:

rosinstall ./src /opt/ros/noetic tiago_public−noetic.rosinstall

Tutorial 2: Simulation Scenario

1. Simulation Launch

Launch TIAGo in a simulated environment using Gazebo:

roslaunch ics_gazebo tiago.launch world_suffix:=tutorial2

2. Rviz Configuration

Launch Rviz with the TIAGo robot model:

roslaunch ics_gazebo tiago.launch world_suffix:=tutorial

3. Controller Plugin

Run the look_to_point node for controlling the robot's gaze:

rosrun look_to_point look_to_point

Tutorial 3: Mapping, Localization, and Navigation

1. Mapping

Generate maps for different environments using TIAGo:

roslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true world:=tutorial_office

2. Localization

Initialize localization for the robot:

roslaunch tiago_localization tiago_localization.launch

3. Navigation

Navigate through the mapped environment using the MoveIt! package:

roslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true
roslaunch tiago_move tiago_move.launch

Tutorial 4: Object Detection and Point Cloud Segmentation

1. World Creation

Create a world for perception tasks:

roslaunch object_detection_world tiago.launch world_suffix:=objects

2. Object Detection

Follow the installation instructions for the Yolact repository and run object detection scripts:

cd YOLACT-mini-Instance-segmentation
python detect_tiago.py

Tutorial 5: Navigation and Robot Manipulation

1. Navigation

Set up navigation in a custom world:

roslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true world:=pick_place map:=$HOME/.pal/tiago_maps/configurations/pick_place_map

2. Perception

Perform perception tasks in the environment.

3. Robot Manipulation

Launch manipulation capabilities for TIAGo:

roslaunch tiago_move_pick_place tiago_move.launch

For a state machine approach, restart the setup process.

4. State Machine

roslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true world:=pick_place map:=$HOME/.pal/tiago_maps/configurations/pick_place_map
sudo apt-get install ros-noetic-smach-viewer
rosrun smach_viewer smach_viewer.py
roslaunch hsrb_task_manager task_manager.launch

By following these tutorials, users can gain practical experience in setting up and utilizing the TIAGo robot for various robotics applications in ROS.