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  Show EOL distros: 

pr2_calibration: calibration_msgs | dense_laser_assembler | image_cb_detector | interval_intersection | joint_states_settler | laser_cb_detector | laser_joint_processor | laser_joint_projector | monocam_settler | pr2_calibration_estimation | pr2_calibration_executive | pr2_calibration_launch | pr2_calibration_propagation | pr2_dense_laser_snapshotter | pr2_se_calibration_launch | settlerlib

Package Summary

Provides a toolchain running through the robot calibration process. This involves capturing pr2 calibration data, estimating pr2 parameters, and then updating the PR2 URDF. Note that the only support API for the stack is the tutorial for calibrating the PR2. All of the internal APIs are not considered to be stable.

pr2_calibration: dense_laser_assembler | laser_joint_processor | laser_joint_projector | pr2_calibration_launch | pr2_dense_laser_snapshotter | pr2_se_calibration_launch

Package Summary

Provides a toolchain running through the robot calibration process. This involves capturing pr2 calibration data, estimating pr2 parameters, and then updating the PR2 URDF. Note that the only support API for the stack is the tutorial for calibrating the PR2. All of the internal APIs are not considered to be stable.

pr2_calibration: dense_laser_assembler | laser_joint_processor | laser_joint_projector | pr2_calibration_launch | pr2_dense_laser_snapshotter | pr2_se_calibration_launch

Package Summary

Provides a toolchain running through the robot calibration process. This involves capturing pr2 calibration data, estimating pr2 parameters, and then updating the PR2 URDF. Note that the only support API for the stack is the tutorial for calibrating the PR2. All of the internal APIs are not considered to be stable.

pr2_calibration: dense_laser_assembler | laser_joint_processor | laser_joint_projector | pr2_calibration_launch | pr2_dense_laser_snapshotter | pr2_se_calibration_launch

Package Summary

The pr2_calibration package


Documentation

This stacks provides tools for calibrating several aspects of the PR2's kinematics. This probably needs to be run only once per robot, unless sensors or mechanical parts are replaced or reattached. Recalibrating camera intrinsics will also most likely require a system recalibration

The following aspects of the PR2 will be calibrated by the pr2_calibration stack

The following aspects of the PR2 are not calibrated by the pr2_calibration stack

More information is available at:

Calibrating the PR2

Follow instructions in the Calibrating the PR2 Tutorial.

Stability

The only stable API for this stack is the PR2 calibration workflow defined in tutorial above. Expect the internal APIs to change.

The algorithm implemented in this stack is described in the following paper:
Calibrating a Multi-Arm Multi-Sensor Robot: A Bundle Adjustment Approach

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2019-06-08 13:04