ROS Hand-eye calibration client for Roboception's rc_visard

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 or /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 calibrate or get_calibration are called.

The calibration routine consists of several steps:

  1. Setting calibration parameters, i.e. grid size and mounting, via dynamic reconfigure.
  2. For a user-defined number of robot calibration poses repeat
    1. Move the robot to the pose (calibration grid must be visible in the rc_visard's view).
    2. Send the robot pose to rc_visard (set_pose)
  3. Trigger the calibration tranformation to be calculated (calibrate).

After the calibration transform is calculated and tested, it should be saved to the rc_visard (save_calibration).

For detailed instructions on the calibration routine consult the rc_visard manual: https://doc.rc-visard.com.

Installation

On Debian/Ubuntu add the ROS sources and

1 sudo apt-get install ros-${ROS_DISTRO}-rc-hand-eye-calibration-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

1 git submodule update --init --recursive

Configuration

Parameters

Dynamic reconfigure parameters

Services

The following services are offered to follow the calibration routine:

Launching

Using command line parameters:

1 rosrun rc_hand_eye_calibration_client rc_hand_eye_calibration_client_node _host:="10.0.2.44"


rc_hand_eye_calibration_client
Author(s): Christian Emmerich
autogenerated on Sat Jun 15 2019 19:42:48