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Comprehensive README for tiago_robot – Full Documentation Overhaul - #35
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4n5hh wants to merge 4 commits into
Open
Comprehensive README for tiago_robot – Full Documentation Overhaul #354n5hh wants to merge 4 commits into
4n5hh wants to merge 4 commits into
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ShaniPratapSingh
commented
Apr 3, 2025
@De-funkd what i have do in this . this is already have no issue .please tell if i have to do anything in this .
Author
saikishor
saikishor
requested changes
Apr 23, 2025
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### Prerequisites
Ensure that you have the following installed:
- ROS 2 Humble
- Gazebo (for simulation support)
- MoveIt 2 (for motion planning)
- PAL Robotics dependencies
- Git (to clone the repository)
### Cloning the Repository
```bash
cd ~/tiago_ws/src # Navigate to your ROS 2 workspace
git clone https://github.com/pal-robotics/tiago_robot.git
cd ~/tiago_ws && colcon build
```
### Setting Up the Environment
Before using the TIAGo robot, source the necessary setup files:
```bash
source ~/tiago_ws/install/setup.bash
```
To avoid sourcing manually every time, add the above line to your `.bashrc` file.
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I would simply add the binary installation, ros-humble-tiago-robot, this should install all the dependencies etc
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### `tiago_bringup`
Contains launch and configuration files required for bringing up the robot in both simulation and real-world environments.
- **`config/`**: Configuration files for various subsystems, including:
- `joy_teleop/`: Configuration for joystick teleoperation.
- `motion_planner/`: Configurations for different end effectors and motion planning setups.
- `motions/`: Predefined motion sequences for different setups.
- `twist_mux/`: Configuration for velocity command multiplexing.
- **`launch/`**: Launch files for bringing up different subsystems like joystick teleoperation, motion execution, and twist muxing.
- **`module/`**: YAML files specifying configurations for joystick, play motion, and twist mux modules.
- **`scripts/`**: Contains `regen_em_file.py`, used for regenerating files from `.em` templates.
### `tiago_description`
Contains the URDF, mesh, and configuration files for TIAGo.
- **`config/`**: Contains configuration files like:
- `tiago_configuration.yaml`: General configuration for the robot.
- `tiago.rviz` & `urdf.rviz`: RViz visualization settings.
- **`launch/`**: Launch files for visualization and state publishing:
- `robot_state_publisher.launch.py`
- `show.launch.py`
- **`meshes/`**: 3D models of the robot components, including:
- `arm/`, `head/`, `sensors/`, `torso/`
- **`module/`**: Contains `10_robot_state_publisher.yaml`, which defines robot state publishing settings.
- **`robots/`**: Contains `tiago.urdf.xacro`, the main Xacro definition of TIAGo.
- **`ros2_control/`**: ROS 2 control configurations, including:
- `gazebo_controller_manager_cfg.yaml`
- `ros2_control.urdf.xacro`
- `transmissions.urdf.xacro`
- **`test/`**: Contains test scripts for validating TIAGo’s description:
- `test_description.launch.py`
- `test_xacro.py`
- **`tiago_description/`**: Contains Python utilities for launching TIAGo, including:
- `launch_arguments.py`
- `tiago_launch_utils.py`
- **`urdf/`**: Contains Xacro files defining specific robot components, structured as:
- `arm/`, `head/`, `sensors/`, `torso/`, `end_effector/`, `calibration/`
- Example: `torso/torso.ros2_control.xacro`, `torso/torso.urdf.xacro`
### `tiago_controller_configuration`
Contains configuration files for controlling the robot’s actuators.
- **`config/`**: YAML configurations for various controllers, including:
- `arm_controller.yaml`: Controls the robot's arm.
- `head_controller.yaml`: Controls the head movements.
- `ft_sensor_controller.yaml`: Manages force-torque sensor data.
- `joint_state_broadcaster.yaml`: Handles joint state broadcasting.
- `gravity_compensation_controller_ilm.yaml`: Implements ILM-based gravity compensation.
- `gravity_compensation_controller_parker.yaml`: Implements Parker-based gravity compensation.
- `torso_controller.yaml`: Controls the torso movements.
- **`launch/`**: Launch files to initialize controllers, including:
- `default_controllers.launch.py`: Loads and starts default controllers.
- `gravity_compensation_controller.launch.py`: Launches gravity compensation controllers.
- **`module/`**: Contains YAML files specifying controller configurations:
- `10_default_controllers.yaml`: Defines default controllers for initialization.
### `tiago_robot`
Contains high-level package metadata, including `package.xml` and `CMakeLists.txt`.
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I don't think you need to explain each and every file, just give an overview of what each package does
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[TIAGo (Take It and Go)](https://pal-robotics.com/robot/tiago/) is a mobile manipulator robot developed by PAL Robotics. It is widely used in research and industry for a variety of applications, including:
The templates are written using [empy](https://pypi.org/project/empy/) and have the extension `.em`.
- Mobile manipulation
- Human-robot interaction
- Assistive robotics
- Warehouse automation
- AI and reinforcement learning applications
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A bit more description and more information and some research about it would be helpful
Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
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Got it @saikishor, please confirm if I should update the README with the suggested changes or wait for the maintainers to handle it.
atharv-08svg
commented
Jan 14, 2026
@De-funkd I have updated README with the necessary changes and made a PR with which just gives the overview of what packages do instead of file.
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Title:
Complete Overhaul of README for TIAGo Robot Repository
Description:
This pull request introduces a fully rewritten README for the
tiago_robotrepository, providing a structured, detailed, and comprehensive guide for users working with PAL Robotics' TIAGo robot. The new README improves clarity, organization, and accessibility by covering:Key Improvements:
tiago_bringuptiago_descriptiontiago_controller_configurationtiago_robotThis update significantly enhances the usability of the repository by making it easier for new and experienced users to navigate, configure, and deploy TIAGo in various applications.
Please review and let me know if any modifications are required, ill make the changes as soon as possible.