TiagoBodyController

A body controller ot the Tiago robot.

Requirements

• OpenCV library
• OpenNI2 library
• ROS libraries
• 3D Camrea (DRGB). It works with Orbbec Astra and Asus Xtion, both uses openNI2 driver.
• Real or Virtual (Gazebo) Tiago Pal-Robotics.
• Ubuntu 14.04 (For Tiago Gazebo Compatibility).

Set environment:

$ source ~/Downloads/2-Linux/OpenNI-Linux-x64-2.3/OpenNIDevEnvironment
$ source ~/tiago_public_ws/devel/setup.bash

Compile

Download or gitclone the projects TiagoBodyController (https://github.com/derzu/TiagoBodyController) and BodySkeletonTracker (https://github.com/derzu/BodySkeletonTracker).
$ cd TiagoBodyController
$ sh compile.sh

Compile and run just TiagoJointController

Edit TiagoJointController.cpp change mainTest() to main()
$ g++ TiagoJointController.cpp -o TiagoJointController -I/opt/ros/indigo/include -I../include/ -I. -Iinclude/ -L/opt/ros/indigo/lib -Wl,-rpath,/opt/ros/indigo/lib -lroscpp -lrosconsole -lrostime -lroscpp_serialization -lboost_system -lboost_thread -pthread -lactionlib
$ ./TiagoJointController

Compile and run just TiagoBaseController

Edit TiagoBaseController.cpp change mainTest() to main()
$ g++ TiagoBaseController.cpp -o TiagoBaseController -I/opt/ros/indigo/include -I../include/ -I. -Iinclude/ -L/opt/ros/indigo/lib -Wl,-rpath,/opt/ros/indigo/lib -lroscpp -lrosconsole -lrostime -lroscpp_serialization -lboost_system -lboost_thread -pthread -lactionlib
$ ./TiagoBaseController

Connect to a Real Tiago (not deploying):

1 - Connect to it's wifi
2 - terminal:
$ export ROS_IP=10.68.0.130
$ export ROS_MASTER_URI=http://10.68.0.1:11311
Where 10.68.0.130 is the computer IP that will control Tiago. And 10.68.0.1 is Tiago's IP.

Run

$ cd TiagoBodyController/Bin/x64-Release/
$ ./TiagoBodyController