tiago_harmonic

Authors

• Juan Carlos Manzanares Serrano - juancarlos.serrano@urjc.es
• Francisco Martín Rico - fmrico@gmail.com
• Juan Sebastían Cely Gutiérrez - juan.cely@urjc.es

Installation

You need to have previously installed ROS2. Please follow this guide if you don't have it.

source /opt/ros/jazzy/setup.bash

Create workspace and clone the repository

mkdir ~/tiago_ws/src
cd ~/tiago_ws/src
git clone https://github.com/Tiago-Harmonic/tiago_harmonic.git
vcs import . < tiago_harmonic/dependencies.repos

Install dependencies and build workspace

cd ~/tiago_ws
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install 

Setup the workspace

source ~/tiago_ws/install/setup.bash

Usage

ros2 launch tiago_gazebo tiago_gazebo.launch.py is_public_sim:=True world_name:=house # or empty