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TIAGo Pro hardware APIs¶
Note
Every node that publishes sensor data is launched by default on startup.
Laser range-finder¶
Located at the front and at the back of the omnidirectional base. This sensor measures distances in a horizontal plane. It is a valuable asset for navigation and mapping. Bad measurements can be caused by reflective or transparent surfaces.
Topics published¶
/scan: Laser scan data of the laser scanner
Inertial Measurement Unit (IMU)¶
This sensor unit is mounted at the center of the robot and can be used to monitor inertial forces and provide the attitude.
Topics published¶
/base_imu: Inertial data from the IMU
RGB-D camera¶
This camera (RealSense series) is mounted inside TIAGo Pro’s head and provides RGB images, along with a depth image obtained by using an IR projector and an IR camera. The depth image is used to obtain a point cloud of the scene.
Topics published¶
Services advertised¶
Microphone array¶
TIAGo Pro is equipped with a reSpeaker 4-microphone array.