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Calibrating the Robotino grappler

Description: Steps on how to calibrate the grappler on Robotino

Tutorial Level: BEGINNER

Contents

  1. Process
    1. Launch robotino_node
    2. Calibration
      1. Run the grappler_calibration_node
      2. Configuring the grappler

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.

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.

Wiki: robotino_grappler_calibration/Tutorials/Calibrating the Robotino grappler (last edited 2012-02-10 14:45:08 by HozefaIndorewala)

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