Only released in 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 | settlerlib

Package LinksDependencies (1)

Package Summary

No API documentation

Tools for pushing a new calibration into the URDF and wge100 cameras. This package is still experimental. Expect usage and APIs to change.

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 LinksDependencies (1)

Package Summary

Documented

Tools for pushing a new calibration into the URDF and wge100 cameras. This package is still experimental. Expect usage and APIs to change.

Contents

  1. Stability
  2. Scripts
    1. propagate_config2.py
    2. propagate_baseline.py

Stability

This package is still unstable, and does not have a released API.

Scripts

These scripts below have not been released and are still unstable, but we we're still documenting them since they're being used as a part of calibrating the PR2.

propagate_config2.py

This script generates a calibrated URDF by combining an exisiting URDF with the results of pr2_calibration_estimation.

./propagate_config [initial.yaml] [calibrated.yaml] [cal_measurements.bag] [cal_output.xml]

  • [initial.yaml] - The system definition before running calibration

  • [calibrated.yaml] - The system definition after running calibration

  • [cal_measurements.bag] - Bagfile that contains the original URDF. The URDF must be availabe on the topic /robot_description as a std_msgs/String

  • [cal_output.xml] - File to which to write the updated URDF

propagate_baseline.py

This script should be run on a running robot in order to update a stereocamera's baseline parameter.

./propagae_baseline.py camera:=[camera_namespace] [calibration_bagfile] [system_filename] [config_camera_name]

  • [camera_namespace] - Ros name to prepend onto the call to set_calibration"

  • [config_filename] - yaml file that stores the baseline shift"

  • [config_camera_name] - Name of the camera in the system definition file. Tells script which baseline shift to use"

Wiki: pr2_calibration_propagation (last edited 2010-06-01 23:13:00 by VijayPradeep)

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