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TIAGo Pro's software stack

TIAGo Pro is a ROS 2 robot. Namely, it runs under

  • Ubuntu 22.04 LTS
  • ROS 2 Humble

Note

This will very likely change by the end of March 2026

For reference,

  • All the control stack of the robot is based on the ros2_control framework. In particular the default controllers are Joint Trajectory Controllers for arms, torso and head joints in position interface.
  • The Navigation stack is built on the Nav2 framework
  • The integrated camera in the head uses the upstream driver of Intel Realsense.
  • The Moveit2! Framework comes integrated in the robot

The TIAGo Pro documentation provides further information about the robot and API. There is a plethora of examples and tutorials.

Software restrictions

There are no software restrictions if the software used does not damage the robot, environment or is hazardous for the people around the robot.

The software used for each team has to be deployed in the robot with the tools that will be provided by PAL Robotics. PAL Robotics will provide with a docker image to develop the solutions for the competition.

The contestants are encouraged to build upon all this stack, by adding whatever they feel suits best the tasks.

Warning

PAL Robotics does neither support developments done outside the development docker nor any bridging with ROS.

Level of autonomy

TIAGo Pro is meant to be a fully autonomous robot.

Allowed interventions

TIAGo Pro has 3x emergency stops: two on the robot and a remote emergency button.

Once the emergency button is engaged, the user has to disengage it and press the on/off button of the robot, plus some commands for a full recovery of the platform.