[Documentation] [TitleIndex] [WordIndex

rc_visard: rc_hand_eye_calibration_client | rc_pick_client | rc_roi_manager_gui | rc_tagdetect_client | rc_visard_description | rc_visard_driver

Package Summary

The rc_hand_eye_calibration_client package

rc_visard: rc_hand_eye_calibration_client | rc_visard_description | rc_visard_driver

Package Summary

The rc_hand_eye_calibration_client package

See http://rc-visard.com and http://doc.rc-visard.com for more details.

This package is still in development and the API might change in the future. Please report any bugs or feature requests on GitHub.

Overview

This node provides ROS service calls and topics to calibrate the rc_visard to a robot, also called hand-eye calibration. It also provides the new or pre-existing calibration via /tf or /tf_static.

The default behavior is to request the existing calibration of the rc_visard once on startup, broadcast it (latched) on /tf_static and only broadcast again if the advertised ROS services calibrate or get_calibration are called.

Calibration routine

The calibration routine consists of several steps:

  1. Setting calibration parameters, i.e. grid size and mounting, via dynamic reconfigure.
  2. For a user-defined number of robot calibration poses repeat
    1. Move the robot to the pose (calibration grid must be visible in the rc_visard's view).
    2. Send the robot pose to rc_visard (set_pose)

  3. Trigger the calibration transformation to be calculated (calibrate).

After the calibration transform is calculated and tested, it should be saved to the rc_visard (save_calibration).

For detailed instructions on the calibration routine consult the rc_visard manual: https://doc.rc-visard.com.

Configuration

Parameters

Since version 2.7, the device ID can be used instead of the sensor's IP address:

Dynamic reconfigure parameters

Services

The following services are offered to follow the calibration routine:

Launch

Using command line parameters:

Since version 2.7:

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Acknowledgements

ROSIN Logo

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

EU Flag

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement No. 732287.


2019-10-12 12:59