Skip to content

Latest commit

 

History

History
17 lines (8 loc) · 1019 Bytes

README.md

File metadata and controls

17 lines (8 loc) · 1019 Bytes
Raw

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_dual_robot/ readme.

Running the setup assistant

If you need to modify the setup assistant, you'll need to:

  1. Provide arguments to the xacro file to get the variant of TIAGo that you need. For MoveIt! the parameters may need to modify areend_effector_left, end_effector_right, ft_sensor_left, ft_sensor_right and base_type. Also add no_safety_eps:=False
  2. Create (or softlnk) a SRDF file at config/tiago_dual.srdf if 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.