PAL Developer Center

Version: PAL OS edge

🌟 Highlights of this release 🌟

Your robot

TIAGo Pro

TIAGo Head

Kangaroo

TIAGo/TIAGo Omni

TRIAGo

ARI

Mobile bases

What do you want to do today?

Explore tutorials	Configure your robot
Develop a full robot app	Access ROS Developer resources

Capabilities and API

🏁 Getting started	📜 Developing applications	⚙️ Robot hardware
🛠 Robot management	🦾 Manipulation	👥 Social perception
💬 Communication	😄 Interaction	🧭 Navigation
💡 Knowledge and reasoning	👋 Gestures and motions	🖥️ User interfaces

Capabilities and API

• 🏁 Getting started
  • Simulation
    • Simulation
  • FAQ
  • Support
    • How to get support?
  • Reference documentation
    • PAL software architecture
    • Robot identification
    • Robot storage recommandations
    • Electrical safety
    • Disclaimers
• ⚙️ Robot hardware
  • TIAGo Pro
    • Discover TIAGo Pro
    • Getting started with your robot
    • Configure your environment to develop with your robot
    • Ready to code your first application?
    • Learn more about the skills of your robot
    • Useful reference
  • TIAGo Head
    • Discover TIAGo Head
    • Getting started with your robot
    • Configure your environment to develop with your robot
    • Ready to code your first application?
    • Learn more about the skills of your robot
    • Useful reference
  • Kangaroo
    • Before starting
    • First steps
    • Know your robot
    • Useful reference
  • TIAGo
    • Discover TIAGo
    • Getting started with your robot
    • Configure your environment to develop with your robot
    • Ready to code your first application?
    • Learn more about the skills of your robot
    • Useful reference
  • TRIAGo
    • Before starting
    • First steps
    • Know your robot
    • Useful reference
  • ARI
    • Discover ARI
    • Getting started with your robot
    • Configure your environment to develop with your robot
    • Ready to code your first application?
    • Learn more about the skills of your robot
    • Useful reference
  • PAL Mobile bases
    • Before starting
    • First steps
    • Your robot
    • Useful reference
  • Controllers
    • Overview of the robot’s controllers
  • Sensors
    • Accessing your robot’s sensors
    • 🚧 LIDARs sensors
    • 🚧 RealSense RGB-D cameras
  • Actuators
    • End-effectors
    • Calibrate arms with Series Elastic Actuators
  • Other special hardware
    • 🚧 Communication buses
    • 🚧 PAL gripper camera
    • 🚧 PAL Hey5 camera
    • 🚧 Optris thermal camera
    • 🚧 Velodyne VLP-16
  • Tutorials
    • 🚧 Tutorial: Displaying the URDF 3D model of your robot
    • Recording audio with ROS and Python
  • FAQ
  • References
    • Robot hardware skills
    • LEDs API
    • Using the Nvidia Jetson accelerator
    • Microphone array and audio recording
• 🛠 Robot management
  • The robot operating system
    • Software management
    • Operating system configuration and updates
    • [‼️ROS1] Configuration files
    • Network Configuration Overview
    • VPN network configuration
    • WPA-Enterprise network configuration
    • Robot Reflection System
    • The startup process of the robot and application management
    • Configure an application to launch at start-up
  • Tools and GUI to manage your robot
    • SSH Connection to the robot
    • 🚧 On-screen menu
    • Web User Interface
    • ROS’s RViz
    • ROS’s RQt
    • 🚧 Robot monitoring with Graphana
    • 🎮 Gamepad
  • Data management
    • Data management, security, data privacy
  • Maintainance and recovery
    • Troubleshooting issues on your robot
    • System recovery
    • How to flash an ISO on your robot
  • Other topics
    • How to know the battery level and charging status?
    • Internationalisation and language support
    • Robot management skills
  • FAQ
• 📜 Developing applications
  • Overview
  • General documentation
    • ✴️ Creating no-code demos
    • 📝 Developing robot apps
    • 🟦 Developing with ROS
    • Intents
    • [‼️ROS1] Accessing the robot’s capabilities from javascript
    • Visual programming
    • 🚧 How-to: Debugging on the live robot
    • PAL Interaction simulator
    • Automatic code generation with rpk
  • How-to
    • Using the PAL public Docker image
    • Developing with the PAL Developer Docker image
    • How-to: Set up your developer environment
    • Set up ROS 2 communication with the robot
    • 🚧 Asking for user input
  • Tutorials
    • Build and run a new ROS package
    • Deploying ROS 2 packages on your robot
    • Your robot’s “Hello world”
    • [‼️ROS1] Creating a simple multi-modal interaction
    • Create an application with rpk
  • FAQ
  • References
    • Set up the ROS_DOMAIN_ID in ROS 2
    • [‼️ROS1] REST interface
    • 🚧 PAL SDK for naoqi users
    • Translating your applications
    • 🚧 Default application
• 👋 Gestures and motions
  • General documentation
    • Upper body motion and play_motion2
    • 🚧 Introduction to whole body motion control – when to use it
    • 🚧 Introduction to MoveIt – when to use it
    • Motion Builder
    • End effectors control and motions
  • Tutorials
    • 🚧 Tutorial: How to move the robot through whole body motion control
    • 🚧 Tutorial: How to move the robot through whole body move it
  • How-to
    • play_motion: How to play a pre-recorded motion
    • [‼️ROS 1] How-to: Implement a gaze-following behaviour
  • References
    • Gestures and motions skills
    • List of available motions
  • FAQ
• 🧭 Navigation
  • General Documentation
    • 🎮 Teleop
    • 🥅 Goal Navigation
    • 🚩 Waypoint Navigation
    • 📍 Localization
    • 🗺️ Mapping
    • 🎯 Target Navigation
    • 🌐 Costmap Filters
    • 🏛️ Environmental Annotations
    • 🔋 Docking
    • ⚙️ Nav2 Plugins And Extensions
  • How-to and Tutorials
    • Beginner
    • Intermediate
    • Advanced
  • References
    • Navigation skills
• 🦾 Manipulation
  • General documentation
    • 🚧 Overview of the Advanced Grasping pipeline
    • 🚧 Upper body motion and play_motion
    • 🚧 How-to: How to activate collision detection
    • 🚧 Tutorial: Customizing the Advanced Grasping pipeline
  • How-to and tutorials
    • 🚧 How-to: How to grasp a cube on the flat surface?
    • How to plan motions with MoveIt!
    • 🚧 Tutorial: Advanced Grasping: step-by-step tutorial
  • API reference
    • Mobile manipulation skills
    • 🚧 ROS APIs for manipulation
    • 🚧 Advanced Grasping API
  • Teleoperation
    • Teleoperation with VR headsets
• 👥 Social perception
  • General documentation
    • Social perception with ROS4HRI
    • Multi-modal matching of faces, bodies and voices
  • Tutorials and how-tos
    • How to launch the different components for person detection
    • How to access information of a face, a skeleton or a person?
    • Detect people oriented toward the robot (Python)
    • Detect people around the robot (C++)
    • 🚧 Tutorial: Create a simple engagement detector
    • Tooling and debugging of human-robot interactions
    • 🚧 How-to: How to integrate your own emotion/expression recognition node?
  • API reference
    • Social perception skills
    • Social perception topics
• 💬 Communication
  • How-to
    • How-to: Automatic Speech Recognition (ASR)
    • How-to: Wake-up word detector
    • How-to: Dialogue management
    • How-to: RASA chatbot
    • How-to: LLM chatbot
    • How-to: Using the knowledge base with the chatbot
    • How-to: Speech synthesis (TTS)
  • Tutorials
    • Tutorial: Parrot the human
    • 🚧 Tutorial: Programming an interactive a story
  • FAQ
  • References
    • Communication skills
• 😄 Interaction
  • General documentation
    • [‼️ROS 1] Controlling the attention and gaze of the robot
  • Tutorials
    • [‼️ROS1] Getting started with ARI - Combine voice, gesture and eyes
    • Tutorial: Creating expressions with LEDs
    • 🚧 Tutorial: Creating custom faces
  • How-to
    • Robot face and expressions
  • FAQ
  • References
    • Interaction skills
    • APIs for interaction control
• 💡 Knowledge and reasoning
  • Knowledge management on the robot
    • The OpenRobots ontology
    • Run-time knowledge providers
  • Simple example of knowledge base usage
  • KnowledgeCore features
    • Multi-models
    • Event system
    • Reasoning
  • Tutorials and how-tos
    • Getting started with the knowledge base
    • How to add/remove/query facts from the knowledge base
    • Build a complete LLM-enabled interactive app
  • References
    • Reasoning skills
    • KnowledgeCore API
• 🖥️ User interfaces
  • General documentation
    • Graphics system
    • Building a touchscreen interface via ROS and QML
    • Architecture
  • Tutorials
    • A first User Interface (UI) for your robot application
    • 🚧 Tutorial: Creating a interactive user interface
  • How-To/References
    • 🚧 How-to: Edit QML interfaces with Qt Design Studio
    • 🚧 How-to: Edit QML interfaces source code
  • References
    • User Interface skills

Reference

Reference

• PAL OS edge Highlights
• PAL public skills API
• PAL OS modules
• Frequently Asked Questions
• Glossary
• Index
• Tutorials
• 🚧 Demos
• List of ROS Topics
• List of ROS Actions
• List of ROS Services
• List of ROS Nodes
• List of ROS messages
• List of ROS Parameters