industrial_calibration_ros

ROS2 utilities for the industrial_calibration repository

Architecture

Nodes

Data Collector Node

ROS node that collects data for performing hand-eye calibration with an RGB camera. This node:

subscribes to
- an image topic (sensor_msgs/Image) in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
- TF, to compute the pose from the camera/target mount frame to the moving camera/target frame
  
  Note: a calibration observation is acquired whenever a new image is received by the subscriber
exposes a service for saving collected image/pose observation pairs to a specified directory (/save)

3D Data Collector Node

ROS node that collects data for performing a hand-eye calibration with a combination RGB + point cloud sensor This node:

subscribes in a synchronized manner to:
- an image topic (sensor_msgs/Image) in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
- a point cloud topic (sensor_msgs/PointCloud2) of the 3D scene in which the calibration target has been identified
- TF, to compute the pose from the camera/target mount frame to the moving camera/target frame
  
  Note: a calibration observation is acquired whenever a new image/point cloud pair is received by the synchronized subscriber
exposes a service for saving collected image/cloud/pose observations to a specified directory (/save)

Target Finder Node

ROS node that subscribes to an image topic (sensor_msgs/Image) and attempts to identify a calibration target in the image. If the target is identified, it:

republishes the original image on a new topic
publishes a new image with the target features overlaid on the original image for visualization

Image Trigger Node

ROS node that subscribes to an image topic (sensor_msgs/Image) and provides a service (std_srvs/Trigger) for republishing that image on command. This node is intended to act as a software trigger for cameras that publish images continuously or at a frequency faster than the desired calibration observation collection.

Build

cd <workspace>
vcs import src < src/industrial_calibration_ros/dependencies.repos
rosdep install --from-paths src -iry
colcon build

Run

ros2 launch industrial_calibration_ros data_collection.launch

marip8/industrial_calibration_ros2