CartesI/O configuration files for Tiago Dual (omnibase) robot developed by PAL Robotics.
The stack is depicted in the tiago_dual_cartesio_config/stack/tiago_dual.stack file.
Simply:
reset && mon launch tiago_dual_cartesio_config/launch/cartesio.launch
It is possible to check the collision model by enabling Collision Enabled in the RobotModel display in RVIZ. Notice that different collision models can be used.