tiago_wbc_ros2 🤖

A minimal ROS 2 whole-body control demo for the TIAGo robot.

Getting Started

1. Clone the repository

Clone the repository and initialize its submodules:

git clone https://github.com/hucebot/tiago_wbc_ros2.git
cd tiago_wbc_ros2
git submodule update --init --recursive

2. Configure the environment

Create a .env file from the provided template:

cp .env.template .env

Then edit .env and set the DDS_ENV variable:

• local — for local testing (recommended for the demo)
• robot — to connect to the real robot

3. Build the Docker image

Build the deployment image (this may take around 40 minutes the first time):

make build-deploy

4. Launch the demo

Start the Docker container:

make deploy

After a few moments, RViz should open and display the TIAGo robot model. You can interact with the robot by dragging the interactive markers in RViz, as shown in the demo video below.

Coming Soon

Documentation for running the controller on the real TIAGo robot will be added soon.