TIAGo MoveIt! Config
This package contains the MoveIt! config files for all possible TIAGo configurations (end effectors, force torque sensors..).
To make maintenance easier, there are templates of the files that differ between configurations. To understand how this template works please read https://github.com/pal-robotics/tiago_robot/ readme.
Running the setup assistant
If you need to modify the setup assistant, you'll need to:
- Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify are
- Create (or softlnk) a SRDF file at
config/tiago.srdfif you want to load existing moveit configuration. The SRDF files used are in
config/srdf, and only changes in that directory will not reflect on the robot.
Make sure that after running to reflect the changes in the auto generated files.