Only released in EOL distros:
Package Summary
turtlebot_kinect_arm_calibration allows calibration of a kinect to a TurtleBot arm, including a kinect on-board and off-board the TurtleBot for more precise manipulation.
- Author: Helen Oleynikova
- License: BSD
- Source: hg https://kforge.ros.org/turtlebot/turtlebot_arm (branch: default)
Package Summary
turtlebot_kinect_arm_calibration allows calibration of a kinect to a TurtleBot arm, including a kinect on-board and off-board the TurtleBot for more precise manipulation.
- Author: Helen Oleynikova
- License: BSD
- Source: hg https://kforge.ros.org/turtlebot/turtlebot_arm (branch: default)
Package Summary
turtlebot_kinect_arm_calibration allows calibration of a kinect to a TurtleBot arm, including a kinect on-board and off-board the TurtleBot for more precise manipulation.
- Maintainer: Michael Ferguson <mike AT vanadiumlabs DOT com>
- Author: Michael Ferguson, Helen Oleynikova
- License: BSD
- Source: git https://github.com/turtlebot/turtlebot_arm.git (branch: groovy-devel)
Contents
Documentation
Refer to the Tutorial for instructions on how to calibrate a Kinect to the TurtleBot arm.
Video
Files
calibrate_turtlebot.launch
Calibrate a kinect on-board the TurtleBot.
calibration_old_kinect.launch
- Calibrate an external kinect using the diamondback-style OpenNI drivers.
calibration_new_kinect.launch
- Calibrate an external kinect using the new electric-style OpenNI drivers.
Nodes
calibrate_kinect_checkerboard
Detects a checkerboard in an image, and then waits for the user to move the arm to specified points on the checkerboard to determine the transform between the kinect and the robotSubscribed Topics
/camera/rgb/image_mono (sensor_msgs/image)- Monochromatic image topic for the Kinect (this is used for detecting the checkerboard)
- Camera info from Kinect.
Published Topics
~calibration_pattern_out (sensor_msgs/Image)- A color image with the detected calibration pattern and points on the image overlaid
- (for debugging) A point cloud containing the corners of the checkerboard
- (for debugging) A point cloud containing the recorded positions of the gripper tip
Parameters
~fixed_frame (string, default: /base_link)- Fixed frame to use in the calibration. The camera position will be calibrated to this frame.
- Camera frame to use in the calibration. The final calibration will link this frame to the fixed_frame above. Note that this must be the parent of the camera TF tree.
- Name of the TF frame to publish the position of the calibration pattern to
- TF frame for the gripper link. The gripper tip offsets are based off this frame.
- Width of the checkerboard. Note that this is the number of inside edges on the width, so this will generally be 1 less than the number of squares on the checkerboard.
- Height of the checkerboard. Note that this is the number of inside edges on the height, so this will generally be 1 less than the number of squares on the checkerboard.
- Grid size of the checkerboard, in meters.
- x offset of the physical tip of the gripper from ~/tip_frame.
- y offset of the physical tip of the gripper from ~/tip_frame.
- z offset of the physical tip of the gripper from ~/tip_frame.
Required tf Transforms
<fixed_frame> → <tip_frame>- Transform from the fixed frame used to the gripper tip link
Provided tf Transforms
<camera_frame> → <target_frame>- Transform from the camera frame to the calibration pattern