Compatibility with Tiago

[tushariyer]

Hello,

Not sure where else to leave a message, but I just did the wanderbot tutorials as listed in the rosbook. I wanted to know if there was a way to use the wander.py or the red_light_green_light.py scripts on a Tiago Titanium Mobile Manipulator. This is to be run within Gazebo, but I'm not sure I can match the nodes exactly. Is there a place where I should leave this message/request support?

Regards,

tushariyer

[gbiggs]

The Tiago listens for velocity commands on the /mobile_base_controller/cmd_vel topic. This means that to use it with wander.py and red_light_green_light.py, you will need to remap the topic to /cmd_vel when you start the node. See the section Names, Namespaces and Remapping in chapter 2 for how to remap topics. For example:

./wander.py cmd_vel:=/mobile_base_controller/cmd_vel

To use wander.py, which also wants a /scan topic, you will need to find the topic that Tiago is publishing its laser scans on and remap scan to it when you launch wander.py. I couldn't find the name of that topic on the wiki, unfortunately, but it should be easy to spot in the output of rostopic. If not, load rviz using on of the provided configuration files and look at which topic the laser scan visualisation is subscribed to.