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beneisnerbeneisner
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all cameras roughly calibrated
1 parent 951401c commit 0ce81ba

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+1843
-32
lines changed

‎azure_kinect_ros_driver.patch

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diff --git a/launch/kinect_rgbd.launch b/launch/kinect_rgbd.launch
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index 4222a41..55113a4 100644
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--- a/launch/kinect_rgbd.launch
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+++ b/launch/kinect_rgbd.launch
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@@ -93,7 +93,7 @@
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<param name="point_cloud" value="$(arg point_cloud)" />
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<param name="rgb_point_cloud" value="$(arg rgb_point_cloud)" />
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<param name="point_cloud_in_depth_frame" value="$(arg point_cloud_in_depth_frame)" />
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- <param name="sensor_sn" value="$(arg sensor_sn)" />
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+ <param name="sensor_sn" type="string" value="$(arg sensor_sn)" />
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<param name="tf_prefix" value="$(arg tf_prefix)" />
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<param name="recording_file" value="$(arg recording_file)" />
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<param name="recording_loop_enabled" value="$(arg recording_loop_enabled)" />

‎config/table1.scene

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(noname)+
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(noname)++
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* cam0_beam
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0.3564 0.254 0.4317
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0 0 0 1
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0 0 0 0
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0
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* table
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0.4 -0.3175 -0.60635
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0 0 0 1
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box

‎launch/aruco_single.launch

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<launch>
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<arg name="markerId" default="581"/>
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<arg name="markerSize" default="0.05"/> <!-- in m -->
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<arg name="cam_id" default="0"/>
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<arg name="marker_frame" default="aruco_marker_frame"/>
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<arg name="markerSize" default="0.045"/> <!-- in m -->
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<arg name="marker_frame" default="aruco"/>
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<arg name="ref_frame" default=""/> <!-- leave empty and the pose will be published wrt param parent_name -->
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<arg name="camera_frame" default="k4a_0/rgb_camera_link"/>
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<arg name="camera_info_topic" default="/k4a_0/rgb/camera_info"/>
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<arg name="image_rect_color_topic" default="/k4a_0/rgb/image_rect_color"/>
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<node pkg="aruco_ros" type="single" name="aruco_single">
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<remap from="/camera_info" to="/k4a_$(arg cam_id)/rgb/camera_info" />
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<remap from="/image" to="/k4a_$(arg cam_id)/rgb/image_rect_color" />
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<remap from="/camera_info" to="$(arg camera_info_topic)" />
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<remap from="/image" to="$(arg image_rect_color_topic)" />
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<param name="image_is_rectified" value="True"/>
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<param name="marker_size" value="$(arg markerSize)"/>
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<param name="marker_id" value="$(arg markerId)"/>
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<param name="reference_frame" value="$(arg ref_frame)"/> <!-- frame in which the marker pose will be refered -->
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<param name="camera_frame" value="$(arg cam_id)_rgb_camera_link"/>
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<param name="camera_frame" value="$(arg camera_frame)"/>
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<param name="marker_frame" value="$(arg marker_frame)_$(arg markerId)" />
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</node>
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</launch>

‎launch/calibrate.launch

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<launch>
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<!-- (start your robot's MoveIt! stack, e.g. include its moveit_planning_execution.launch) -->
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<!-- (start your tracking system's ROS driver) -->
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<!-- CAMERA -->
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<arg name="camera_id" default="0"/>
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<!-- Cameras:
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0: Left of the robot (closest to the computer)
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1: Across from the robot
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2: Right of the robot
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3: Directly next to the robot
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-->
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<!-- Derive the sensor serial name from the id indexing into this list. It's a bit of a hack.
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In a different robot configuration, you'd use something different. -->
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<arg name="sensor_sn" default="$(eval '000003493812,000180921812,000059793712,000263392612'.split(',')[arg('camera_id')])"/>
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<!-- ROBOT -->
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<!-- Robot arguments. The defaults are for the franka, but you could change. -->
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<arg name="move_group" default="panda_arm"/>
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<arg name="robot_base_frame" default="panda_link0"/>
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<arg name="robot_effector_frame" default="panda_link8"/>
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<!-- FIDUCIAL TAG DETECTION FRAME -->
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<arg name="aruco_marker_id" default="581"/>
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<arg name="aruco_marker_size" default="0.045"/>
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<!-- CALIBRATION PROCEDURE -->
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<!-- The robot takes a bunch of measurements in different rotations. However,
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the final 4 measurements are a box in a plane, with 2x this value. Make this value as
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large as possible while still detecting the camera. -->
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<arg name="translation_delta_meters" default="0.2"/>
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<!-- Launch the camera driver -->
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<group ns="k4a_$(arg camera_id)">
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<include file="$(find azure_kinect_ros_driver)/launch/kinect_rgbd.launch">
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<arg name="sensor_sn" value="$(arg sensor_sn)"/>
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<!-- Naming. -->
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<arg name="tf_prefix" value="k4a_$(arg camera_id)/"/>
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<!-- Sensor properties -->
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<arg name="color_resolution" value="2160P"/>
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<!-- ROS node properties. -->
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<arg name="required" value="true"/>
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<arg name="overwrite_robot_description" value="false"/>
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</include>
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</group>
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<!-- Launch the tracker. -->
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<include file="$(find rpad_ros)/launch/aruco_single.launch">
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<arg name="markerId" value="$(arg aruco_marker_id)"/>
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<arg name="markerSize" value="$(arg aruco_marker_size)"/>
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<arg name="camera_frame" value="k4a_$(arg camera_id)/rgb_camera_link"/>
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<arg name="camera_info_topic" value="/k4a_$(arg camera_id)/rgb/camera_info"/>
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<arg name="image_rect_color_topic" value="/k4a_$(arg camera_id)/rgb/image_rect_color"/>
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</include>
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<!-- Launch static publishers which describe the frame of the tag w.r.t. the robot. -->
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<include file="$(find rpad_ros)/launch/calibration_frame_publishers.launch" />
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<!-- Launch the robot planning scene! -->
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<include file="$(find rpad_ros)/launch/table1_planning_scene.launch" />
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<!-- Launch the calibration script, with RVIZ disabled (we have our own custom RVIZ configuration) -->
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<include file="$(find easy_handeye)/launch/calibrate.launch">
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<arg name="eye_on_hand" value="false"/>
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<arg name="namespace_prefix" value="my_eob_calib"/>
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<arg name="namespace_prefix" value="k4a_$(arg camera_id)"/>
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<!-- fill in the following parameters according to your robot's published tf frames -->
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<arg name="move_group" value="panda_arm"/>
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<arg name="robot_base_frame" value="panda_link0"/>
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<arg name="robot_effector_frame" value="tagframe"/>
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<arg name="move_group" value="$(arg move_group)"/>
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<arg name="robot_base_frame" value="$(arg robot_base_frame)"/>
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<arg name="robot_effector_frame" value="$(arg robot_effector_frame)"/>
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<arg name="start_rviz" value="false"/>
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<!-- fill in the following parameters according to your tracking system's published tf frames -->
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<arg name="tracking_base_frame" value="0_camera_base"/>
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<arg name="tracking_marker_frame" value="aruco_marker_frame_581"/>
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<arg name="translation_delta_meters" value="0.2"/>
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<arg name="tracking_base_frame" value="k4a_$(arg camera_id)/camera_base"/>
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<arg name="tracking_marker_frame" value="aruco_$(arg aruco_marker_id)"/>
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<arg name="translation_delta_meters" value="$(arg translation_delta_meters)"/>
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</include>
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<!-- Launch rviz with saved stuff. -->
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<node type="rviz" name="rviz" pkg="rviz" args="-d $(find rpad_ros)/launch/calibrate.rviz" />
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</launch>

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