tiago_controller

Tiago controller based on inria_wbc.

References:

• manual for Tiago: https://gitlab.inria.fr/larsen-robots/tiago/-/tree/master/doc
• controller by Brice: https://gitlab.inria.fr/locolearn/tiago_controller/-/tree/master
• controller for Talos: https://gitlab.inria.fr/locolearn/talos_controller

Usage (notes)

./run_docker.sh -it --name tiago registry.gitlab.inria.fr/locolearn/docker_talos/inria_wbc_pal:tiago -c terminator

Simulation

compilation

• source devel/setup.bash
• catkin_make --only-pkg-with-deps tiago_controller

Gazebo

• source catkin_ws/devel/setup.bash
• roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel

controller

• source catkin_ws/devel/setup.bash
• roslaunch tiago_controller tiago_controller.launch

Deployment

• sh ./deploy.sh

• say yes, passwd is 'pal'

• ssh pal@192.168.1.162 sync

• if we added a new controller, we need to reboot the robot

• everything on the robot is on deployed_ws

• in pos_tracker.yaml : use the deployed_ws in the path

• in tiago_control.yaml: use deployed_ws

• check deployed_ws/share for the config files

• if we changed more than config files:

  • pal-stop deployer
  • pal-stop ros_bringup
  • pal-start ros_bringup
  • pal-start deployer

Starting/Stopping the controller

• roslaunch tiago_controller tiago_controller.launch
• stop: rosrun controller_manager controller_manager stop tiago_controller rosrun controller_manager controller_manager stop tiago_controller

Services and topics

There are two modes: trajectory and tracking. Tracking can make the robot too fast is the target is not close.

Topics

• /tiago_controller/ee_pose : pose of the end-effector according to the model (not the encoders)
• /tiago_controller/ee_target : write in this topic to publish a new position to track (TRACKING MODE only)
• /tiago_controller/head_pose : pose of the head (relative to the floating base)
• /tiago_controller/head_target: target for the head (warning: the tasks is likely to have a filter so that only the orientation can be changed)

Services

• /tiago_controller/move: move to a specific position using a trajectory (see example below)
• /tiago_controller/tracking_mode: switch to tracking mode
• /tiago_controller/traj_mode: switch to trajectory mode

Examples

• rosservice call /tiago_controller/move "{pose: {position: {x: 0.5, y: 0.5, z: 1.2}}, duration: 1., use_orientation: False, use_position: True, task_name: ee}"