/am_handeye_calibration

A ROS2 package for hand-eye calibration.

Primary LanguagePython

am_handeye_calibration

A ROS2 package for hand-eye calibration.

Dependencies

git clone git@github.com:ar-mine/am_ros2_perception.git colcon build --symlink-install

Instruction

  1. Run camera node. (Use default topic names "/camera/color/image_raw" of realsense.)
  2. Run rqt_image_view as monitor.
  3. Launch moveit-based robot controller.
  4. Modify the tf link names.
  5. ros2 topic pub /calibrator/command std_msgs/msg/Int64 "{data: 1}" --once for add a new frame of data.
  6. ros2 topic pub /calibrator/command std_msgs/msg/Int64 "{data: 2}" --once for save data should be saved.

TODO List

  1. GUI interface for selecting topic names of camera_image and camera_info.
  2. GUI interface for selecting link names of base_link, eef_link, camera_link, sensor_link.
  3. Simplify topic sender as GUI button (add a check mechanism for not +1).
  4. Add list for choosing different solver algorithm.
  5. Backend optimization?
  6. Update package dependencies.