Configure calibration for a new robot
- Create a new configuration folder in the package "cob_calibration_config" named after the robot.
- Create the file "user_defined/cameras.yaml" define how many cameras are involved for each camera define "topic";"frame_id"(from robot urdf), " property"( position in urdf) "file_prefix" (for camera calibration)
- calibration_seed.yaml: teach in on hardware(or simulation)
- calibration_pattern: in most cases copy the existing cb9x6 for robots at the ipa
generate template for optimization and autogenerated files bringup robot (in simulation or on real robot) roslaunch cob_robot_calibration generate_config.launch
generate calibration positions with running ik services roslaunch cob_calibration_executive generation_calibration_positions.launch
create free_0.yaml --> free_2.yaml for care-o-bot first step with free cb_arm transformation second step with cameras mount position added third step with all unknown transformations