1. 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

About Giskard

Code Examples

Using Giskard Via The Action Interface

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

Using Giskard Via The Python Interface

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.