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
get_calibration are called.
The calibration routine consists of several steps:
1. Move the robot to the pose (calibration grid must be visible in the rc_visard's view). 0. Send the robot pose to rc_visard (`set_pose`)
0. Trigger the calibration tranformation to be calculated (
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.
This package relies on git submodules for the cpr library which need to be initialized before building from source.
host: 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 or /tf_static. Default: 0.0
grid_width: The width of the calibration pattern in meters
grid_height: The height of the calibration pattern in meters
robot_mountedWhether the camera is mounted on the robot or not
The following services are offered to follow the calibration routine:
reset_calibration: 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: Provides a robot pose as calibration pose to the hand-eye calibration routine.
calibrate: Calculates and returns the hand-eye calibration transformation with the robot poses configured by the
set_poseservice. Broadcast the result via /tf or /tf_static.
get_calibration: Returns the existing hand-eye calibration transformation. Broadcast the result via /tf or /tf_static.
save_calibration: 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: 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 /tf will be stopped.
Using command line parameters: