A ROS2 package for hand-eye calibration.
git clone git@github.com:ar-mine/am_ros2_perception.git
colcon build --symlink-install
- Run camera node. (Use default topic names "/camera/color/image_raw" of realsense.)
- Run rqt_image_view as monitor.
- Launch moveit-based robot controller.
- Modify the tf link names.
ros2 topic pub /calibrator/command std_msgs/msg/Int64 "{data: 1}" --once
for add a new frame of data.ros2 topic pub /calibrator/command std_msgs/msg/Int64 "{data: 2}" --once
for save data should be saved.
- GUI interface for selecting topic names of camera_image and camera_info.
- GUI interface for selecting link names of base_link, eef_link, camera_link, sensor_link.
- Simplify topic sender as GUI button (add a check mechanism for not +1).
- Add list for choosing different solver algorithm.
- Backend optimization?
- Update package dependencies.