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}"