This node provides ROS service calls and topics to calibrate the rc_visard to a robot (aka hand-eye calibration).
It also provides the new or pre-existing calibration via
/tf_static. The default behavior is to request the existing calibration of the rc_visard once on startup, broadcast it (latched) on
/tf_static and only broadcast again if the advertised ROS services
get_calibration are called.
The calibration routine consists of several steps:
After the calibration transform is calculated and tested, it should be saved to the rc_visard (
For detailed instructions on the calibration routine consult the rc_visard manual: https://doc.rc-visard.com.
On Debian/Ubuntu add the ROS sources and
This package relies on git submodules for the cpr library which need to be initialized before building from source.
device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
02912345. IMPORTANT: preceed with a colon (
:02912345) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
deviceis not used: The IP address or hostname of the rc_visard that should be calibrated.
rc_visard_frame_id: Name of the frame on the rc_visard when calibrating. Default: "camera"
end_effector_frame_id: Name of the frame calibrated to when using a
robot_mounted(see below) rc_visard. Default: "end_effector".
base_frame_id: Name of the frame calibrated to when using a statically (externally) mounted rc_visard (
robot_mounted == false). Default: "base_link"
calibration_request_period: Decimal number, controls the requesting of calibration from the rc_visard. Default: 0.0
get_calibration(see further below) of this node are called.
calibration_publication_period: Decimal number, controls broadcasting of the calibration on
/tf_static. Default: 0.0
/tf_staticonly when changed in a manual or periodic calibration request (default).
grid_width: The width of the calibration pattern in meters.
grid_height: The height of the calibration pattern in meters.
robot_mounted: Whether the camera is mounted on the robot or not.
tcp_rotation_axis:, TCP rotation axis for 4 DOF robot calibration (-1 for general robot)
tcp_offset: Offset from the TCP for 4 DOF robot calibration
The following services are offered to follow the calibration routine:
reset_calibration[rc_hand_eye_calibration_client/Trigger]: Deletes all previously provided poses and corresponding images. The last saved calibration result is reloaded. This service might be used to (re-)start the hand-eye calibration from scratch.
set_pose[rc_hand_eye_calibration_client/SetCalibrationPose]: Provides a robot pose as calibration pose to the hand-eye calibration routine.
calibrate[rc_hand_eye_calibration_client/Calibration]: Calculates and returns the hand-eye calibration transformation with the robot poses configured by the
set_poseservice. Broadcasts the result via
get_calibration[rc_hand_eye_calibration_client/Calibration]: Returns the existing hand-eye calibration transformation. Broadcasts the result via
save_calibration[rc_hand_eye_calibration_client/Trigger]: Persistently saves the result of hand-eye calibration to the rc_visard and overwrites the existing one. The stored result can be retrieved any time by the get_calibration service.
remove_calibration[rc_hand_eye_calibration_client/Trigger]: Removes the stored hand-eye calibration on the rc_visard. After this call the
get_calibrationservice reports again that no hand-eye calibration is available. Periodic broadcasting via
/tfwill be stopped.
set_calibration[rc_hand_eye_calibration_client/SetCalibration]: Sets the hand-eye calibration transformation. The calibration transformation is expected in the same format as returned by the
save_calibrationmust be called to make the calibration transformation persistent.
Using command line parameters: