Usage

Warning

Always re-teach all TF frames to match your physical hardware setup before running a parkour. Running with mismatched frames can damage the robot, the gripper or the workpiece.

How to start the program

The tutorial needs three terminals. Run the steps in the given order and keep every terminal open.

1 · Launch the parkour

roslaunch pitasc_realworld_tutorial \
    <launch_file_name>

2 · Start the executor

pitasc_executor_rossrv -t

3 · Start piteacher

rqt -s pi_teacher

4 · Load the application

In rqt, load the desired application XML. You can either use the provided sample solution or create your own pitasc application in the application directory.

See also

How to create an application

Teaching frames

Each tutorial ships with several TF frames that define the positions and orientations of the robot’s end-effector.

Your situation	What to do
Using the sample solution	Re-teach all frames according to your hardware setup.
Creating your own application	Either reuse the provided frames (re-teach them first) or teach new ones.

How do I teach a frame?

Frames are taught with the frame editor rqt plugin. Installation and usage instructions are available in the package index: frame_editor