Package for calibrating the PR2 using the robot_calibration package.
Note: This package is experimental.
It is based off the fetch_calibration package, with some small modifications.
It was used to calibrate a PR2 robot using the 5x4 checkerboard from the PR2 accessories box.
- Make sure you have clear space around the robot for it to move its arms
- Run
robot start - Run the Kinect, which should publish to
/head_mount_kinect/depth_registered/pointsand/head_mount_kinect/depth_registered/camera_info- If the topics are different, modify
capture_[left,right]_checkerboards.launchandcapture_[left,right]_checkerboards.yamlas needed.
- If the topics are different, modify
- Grasp the checkerboard with the right gripper - For both arms, the gripper holds the checkerboard upright, with the LED facing inward, i.e., the right gripper's LED faces left and the left gripper's LED faces right.
-
roslaunch pr2_robot_calibration capture_right_checkerboards.launch - (Recommended) Make adjustments to robot.xml and then restart the robot
- Release the checkerboard
- Disable all breakers
- Enable all breakers
-
robot start -f - Move the checkerboard to the left gripper
-
roslaunch pr2_robot_calibration capture_left_checkerboards.launch
In both cases, you should see the offsets you need to make to the robot.xml on your robot. We only calibrate the head/camera poses when calibrating the right arm. Then, we recommend restarting your robot with the new calibration and then doing a separate calibration for just the left arm joints.