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Testing the simulation installation

First of all open a console and source the workspace:

The public simulation of TIAGo++ allows two different versions of the end-effector:

To launch the simulation of the TIAGo++ with a 6-axis force/torque sensor in each wrist and the parallel gripper, execute:

tiago++_gazebo_grippers.jpg

The version with a 6-axis force/torque sensor in each wrist and the Hey5 hand can be launched as follows:

tiago++_gazebo_hands.png

If you manage to launch these two simulations then the installation has been successful.

If you encounter any issues when trying to run gazebo inside the rocker verify that your drivers are up to date and that your PC configuration includes either nvidia GPU or Intel CPU

If you are facing this issue on a laptop, run  nvdia-settings  and go in the PRIME Profiles section

nvidia-settings.png

If you launched the rocker with nvidia support choose the NVIDIA (Performance Mode)

If you launched the rocker with intel support choose NVIDIA On-Demand (Default)

Restart the laptop and it should work


2022-05-28 12:23