The different motors of the robot can be controlled using ROS interfaces. All the controllers provided are implemented as plugins of ros_control and are contained in ros_controllers. All the controllers run in the real-time control loop and have access to the full robot hardware interfaces exposed by ros_control. The motors of TIAGo can be controlled in the following modes:

  • The wheels of the mobile base can be controlled through velocity mode.
  • The motor of the lifting torso and the two motors of the head can be controlled in position mode.
  • Finally, the motors of the arm can be controlled in position and in effort mode.