## For instruction on writing tutorials
## http://www.ros.org/wiki/WritingTutorials
####################################
##FILL ME IN
####################################
## for a custom note with links:
## note =
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links 
## note.0= 
## descriptive title for the tutorial
## title = Calibrating the Robotino grappler
## multi-line description to be displayed in search 
## description = Steps on how to calibrate the grappler on Robotino
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=
## next.1.link=
## what level user is this tutorial for 
## level= BeginnerCategory
## keywords =
####################################

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Process ==

=== Launch robotino_node ===

If the `robotino_node` '''hasn't''' been launched already, then launch it as follows:
{{{
roslaunch robotino_node robotino_node.launch
}}}

=== Calibration ===

==== Run the grappler_calibration_node ====
Run the `grappler_calibration_node` by entering the following command:
{{{
rosrun robotino_grappler_calibration grappler_calibration_node
}}}
==== Configuring the grappler ====

Configure the grappler in such a way that is held up straight as shown in the picture below.

{{attachment:grappler_calibration.JPG}}

Then, press the green button on the grappler. If everything went well, you should see a similar output as follows (Note that values may differ):
{{{
grappler_angles: [163.343, 149.27, 104.96, 106.45]
}}}

Replace a similar line in the `robotino_grappler_calibration/config/calibration_values.yaml` with the one from the output above.

The grappler is now calibrated and ready for some awesome manipulation stuff.



## AUTOGENERATED DO NOT DELETE 
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE