Instructions to run the Tiago Librarian demo simulation

Software Framework

Note: Assuming all the TIAGo packages are set on your computer

Challenge Packages

From the repository, copy following packages to the ROS workspace and do catkin build

mob_manip_challenge_2018  
mob_manip_gui

Starting the simulation with MoveIt! and ROS navigation stack

$ roslaunch mob_manip_challenge_2018 mob_manip_2018_bringup_all.launch

Starting the grasping pipeline

$ roslaunch mob_manip_challenge_2018 pick_place_bringup.launch

Starting the demo execution node

$ rosrun mob_manip_challenge_2018 library_robot_bringup.py

Starting the simulation with MoveIt! and ROS navigation stack

$ roslaunch mob_manip_challenge_2018 mob_manip_2018_bringup_all.launch

Start rqt to start GUI, Load the Mob manip GUI from Plugins->Mob_Manip_GUI

Now you can select a book and robot will guide you

Name		Name	Last commit message	Last commit date
Latest commit History 29 Commits
aruco_ros		aruco_ros
ddynamic_reconfigure_python		ddynamic_reconfigure_python
dynamic_introspection		dynamic_introspection
gazebo_ros_pkgs		gazebo_ros_pkgs
head_action		head_action
hey5_description		hey5_description
mob_manip_challenge_2018		mob_manip_challenge_2018
mob_manip_gui		mob_manip_gui
pal_gazebo_plugins		pal_gazebo_plugins
pal_gripper		pal_gripper
pal_hardware_gazebo		pal_hardware_gazebo
pal_hardware_interfaces		pal_hardware_interfaces
pal_msgs		pal_msgs
pal_navigation_sm		pal_navigation_sm
pal_python		pal_python
play_motion		play_motion
pmb2_robot		pmb2_robot
pmb2_simulation		pmb2_simulation
project_plan_doc		project_plan_doc
ros_control		ros_control
ros_controllers		ros_controllers
rviz_plugin_covariance		rviz_plugin_covariance
tf_lookup		tf_lookup
tiago_moveit_config		tiago_moveit_config
tiago_navigation		tiago_navigation
tiago_robot		tiago_robot
tiago_simulation		tiago_simulation
tiago_tutorials		tiago_tutorials
.rosinstall		.rosinstall
README.md		README.md
setup.bash		setup.bash
setup.sh		setup.sh
setup.zsh		setup.zsh
tiago.png		tiago.png