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. config file documentation
5. Giskards Behavior Tree
6. The Godmap
7. Writing your own behavior tree plugins
8. Writing your own Constraints

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