Tiago
From Robin
Contents |
Before you start
Before starting to use TIAGo, make sure you have read and understood the start-up and shutdown procedure for TIAGo as described in the manual.
Setup
In a typical setup, TIAGo is set as ROS master. Subsequent machines and clients are configured as "slaves".
Clients
Connect to nettbrett
TIAGo is connected to the hidden network nettbrett. This network uses the same access points as eduroam. Thus you can operate TIAGo on all campus premises. Please contact the engineer here to connect your machine to nettbrett. Nettbrett is strictly for use with TIAGo or other robots.
Setup necessary environment variables
In order to resolve the hostname of the TIAGo a host alias must be created. In your home directory create a .hosts
file.
In said file include the following line
tiago-135c tiago.uio.no
To use the host alias, specify ROS master and set ROS ip of your computer, include the following in your .bashrc file
export HOSTALIASES=~/.hosts export ROS_MASTER_URI=http://tiago-135c:11311 export ROS_IP=vixen-nb.uio.no
If you are not using anoat, replace anoat-nb.uio.no with the IP of your computer.
Remember to source .bashrc
after saving your modifications.
Set up ssh to TIAGo
Set up your ssh config file
$ cd $ cd .ssh $ touch config
Copy the following into the config file
Host tiago Hostname 193.157.209.134 User pal IdentitiesOnly=yes IdentityFile ~/.ssh/tiago
Now that you have setup the ssh config file you may ssh into TIAGo using the command
$ ssh -L 8080:localhost:8080 tiago
You should now be connected to TIAGo.
SSH Permission denied (publickey)
If you get the error above, make sure the .ssh directory and authorized_keys has the right permissions by running the following commands from your home directory.
chmod 700 .ssh chmod 600 .ssh/authorized_keys
Operating TIAGo using the hand held controller
How to operate TIAGo is described in the manual.
Operating TIAGo using the web commander
To run premade motions, see the camera feed and for trouble shooting, the web commander may be used. This does not require you to be connected to the same network as TIAGo.
SSH into TIAGo using the command
$ ssh -L 8080:localhost:8080 tiago
Open your browser of choice and go to the following url
http://localhost:8080/
This is the web commander.
Operating TIAGo using ROS from client machine
In general when using TIAGo you will run ROS commands and scripts from your client machine.
For this purpose a singularity container has been created.
The container is running Ubuntu 18.04 bionic with ROS melodic. Additionally the container has a pre-built work-space in /tiago_public_ws/
Open an interactive shell with the following command
singularity shell --nv /projects/robin/programs/sing-con/ros-melodic-pal/ros-melodic-pal.sif
Navigate to /tiago_public_ws/
and source the necessary files
$ source /opt/ros/melodic/setup.bash $ source devel/setup.bash
To test that your setup is working as intended try running the following command
$ rosrun play_motion move_joint head_2_joint -0.6 2.0
If this moves the head of the robot your setup is working correctly. If not please review your environment variables. If the problem persists contact the engineer here For tutorials on how to operate TIAGo using ROS see the ROS wiki TIAGo Tutorial page
http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/Installing_Tiago_tutorial_docker
Dokumentasjon skrevet av Vincent Olsen
Har skrevet dokumentasjon for å hjelpe meg selv å komme i gang med Tiago så tar forebehold om skriveleif:))
Media:Tiago-kommandoer.pdf
Media:Starte_ROS-prosjekt.pdf