Show EOL distros:
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.
- Author: Maintained by Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/calibration/pr2_calibration (branch: electric_trunk)
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.
- Author: Maintained by Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/calibration/pr2_calibration (branch: default)
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.
- Author: Maintained by Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/calibration/pr2_calibration (branch: default)
Package Summary
The pr2_calibration package
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author:
- License: TODO
- Source: git https://github.com/PR2/pr2_calibration.git (branch: hydro-devel)
Package Summary
The pr2_calibration package
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author:
- License: TODO
- Source: git https://github.com/PR2/pr2_calibration.git (branch: indigo-devel)
Package Summary
The pr2_calibration package
- Maintainer status: maintained
- Maintainer: Dave Feil-Seifer <dave AT cse.unr DOT edu>
- Author:
- License: TODO
- Source: git https://github.com/UNR-RoboticsResearchLab/pr2_calibration.git (branch: kinetic-devel)
Package Summary
The pr2_calibration package
- Maintainer: Dave Feil-Seifer <dave AT cse.unr DOT edu>
- Author:
- License: TODO
- Source: git https://github.com/UNR-RoboticsResearchLab/pr2_calibration.git (branch: kinetic-devel)
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
- Forearm camera locations
- Stereocam locations
- Stereocam baselines
- Joint angle offsets (Arms and Head)
- Tilting Laser Location
The following aspects of the PR2 are not calibrated by the pr2_calibration stack
- Location of the PR2's Hi-Res Prosilica head camera
- Camera Intrinsics (Distortion coefficients, Focal Lengths, etc)
- Belt Stretch (deflection due to commanded effort)
- Motor/Joint gear reductions
Link lengths & Link skew
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.
Related Publications
The algorithm implemented in this stack is described in the following paper:
Calibrating a Multi-Arm Multi-Sensor Robot: A Bundle Adjustment Approach
Report a Bug
<<KforgeTracLink(calibration pr2_calibration)>>
