Starting the controller on the TIAGo

⚠️ tiago_ws must be replaced with the name of your catkin workspace ⚠️

⚠️ tiago-155c must be adapted to correspond to your TIAGo ⚠️

QOL prerequisites

Easier deploy:

echo "alias deploy="rosrun pal_deploy deploy.py"" >> ~/.bashrc

Build (optional, debug only)

In your catkin workspace:

catkin build 
# or "catkin build -p package_to_build" 
# if you want to build only one package

Deploy

In your catkin workspace:

deploy tiago-155c
# or deploy --package package_to_deploy tiago-155c
# if you want to deploy only one package

Run

Connect to the TIAGo's Wifi and open its shell:

ssh pal@tiago-155c

Stop the arm_controller since we will use our own:

rosservice call /controller_manager/switch_controller "start_controllers:
- ''
stop_controllers:
- 'arm_controller'
strictness: 0" 

Launch the tiago_arm_effort_controller:

roslaunch tiago_arm_effort_controller tiago_arm_effort_controller.launch robot:=pal end_effector:=pal-gripper