Tutorials

1. Installation
2. Setup PR2 Simulator
3. Setup PyCharm (Optional)

Do this to start the simulator and Giskard.

roslaunch iai_pr2_sim ros_control_sim_with_base.launch
roslaunch giskardpy giskardpy_pr2.launch

1. Introduction to the Giskard action server interface
2. The World
3. Rviz setup & tools
4. (todo) config file

These tutorials show you how to use the ROS action interface to send goals to Giskard.

1. Adding Objects To The World
2. Moving a single arm in joint space
3. Moving a single arm in Cartesian space

Giskard offers a class called GiskardWrapper which offers a convenient interface on top of the action server. These tutorials describe how to use the GiskardWrapper class.

1. General notes
2. Example: Sending Joint Goals
3. Example: Sending Cartesian Goals
4. Example: Combining Joint And Cartesian Goals
5. Example: json goal
6. Example: Adding objects

Troubleshooting