## page was renamed from cob_calibration/Tutorials/configure/configure ## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links ## note.0= ## descriptive title for the tutorial ## title = Configure the cob_calibration stack for a new Care-O-bot ## multi-line description to be displayed in search ## description = This tutorial explains how to configure the cob_calibration stack for a new Care-O-bot. ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link= ## next.1.link= ## what level user is this tutorial for ## level= AdvancedCategory ## keywords = #################################### == Configure calibration for a new robot == 1. Create a new configuration folder in the package "cob_calibration_config" named after the robot. 1. 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) 1. calibration_seed.yaml: teach in on hardware(or simulation) 1. calibration_pattern: in most cases copy the existing cb9x6 for robots at the ipa 1. generate template for optimization and autogenerated files bringup robot (in simulation or on real robot) {{{ roslaunch cob_robot_calibration generate_config.launch }}} 1. generate calibration positions with running ik services {{{ roslaunch cob_calibration_executive generation_calibration_positions.launch }}} 1. 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 ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE