Movit-free hand eye calibration for panda and fr3.
I have tested the code using ROS noetic, a real panda robot and a realsense d435 camera. If you are using a realsense, please install the driver using the command:
sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
I am using the apriltag library to detect the apriltag in the camera image.
Follow the instructions here https://github.com/franzesegiovanni/franka_human_friendly_controllers
to install the controller on the computer connected to the robot.
Run the controller before starting the calibration
roslaunch franka_human_friendly_controllers cartesian_variable_impedance_controller.launch robot_ip:=ROBOT_IP
mkdir calibration_ws
cd calibration_ws
mkdir src
cd src
git clone --branch ros1-legacy https://github.com/IntelRealSense/realsense-ros.git
git clone --depth 1 https://github.com/AprilRobotics/apriltag.git
git clone --depth 1 https://github.com/AprilRobotics/apriltag_ros.git
git clone --depth 1 https://github.com/IFL-CAMP/easy_handeye.git
git clone --depth 1 https://github.com/franzesegiovanni/franka_easy_handeye.git
git clone --depth 1 https://github.com/platonics-delft/panda-ros-py.git
cd ..
catkin build
source devel/setup.bash
Print the pdf file marker.pdf.
roslaunch franka_easy_handeye calibrate.launch
Now, just make the robot compliant using the rqt reconfigure, and move the robot to a different position where you can see the marker in front of the robot. When launching the calibrate file, you have pop-up window that allows you to record the current pose and relative camera position. This is used later to compute the robot camera transformation.