Troubleshooting

Gazebo

exception sending a message

export IGN_IP=127.0.0.1

TIAGo

Deployment issue

If you don't see changes after a deploy. On the TIAGo's shell:

pal_restart_deployer

Dependency issue

On the TIAGo's shell:

cd ~/deployed_ws/lib
ldd libtiago_arm_effort_controller.so

Then look and install manually the missing dependencies.

Checking for a term in the logs

On the TIAGo's shell (replace term_to_check with the one you want to check):

ssh pal@tiago-88c
cd .ros/log/latest
grep -r term_to_check *

Scripts

Running ./script.sh or bash script.sh executes the script in a sub shell. To execute commands in the original shell use . script.sh instead ! (mandatory when using scripts redefining environment variables)

Plugin (C++)

Re-executing the controller without doing a pal_restart_deployer will keep all static const varables initalized to the first value !