[Documentation] [TitleIndex] [WordIndex

Only released in EOL distros:  

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

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.

turtlebot_arm: turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_interactive_markers | turtlebot_block_manipulation | turtlebot_kinect_arm_calibration

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.

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.

Documentation

Refer to the Tutorial for instructions on how to calibrate a Kinect to the TurtleBot arm.

Video

Files

calibrate_turtlebot.launch

calibration_old_kinect.launch

calibration_new_kinect.launch

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 robot

Subscribed Topics

/camera/rgb/image_mono (sensor_msgs/image) /camera/rgb/camera_info (sensor_msgs/CameraInfo)

Published Topics

~calibration_pattern_out (sensor_msgs/Image) ~detector_cloud (sensor_msgs/PointCloud2) ~physical_points (sensor_msgs/PointCloud2)

Parameters

~fixed_frame (string, default: /base_link) ~camera_frame (string, default: /camera_link) ~target_frame (string, default: /calibration_pattern) ~tip_frame (string, default: /gripper_link) ~checkerboard_width (int, default: 6) ~checkerboard_height (int, default: 7) ~checkerboard_grid (double, default: 0.027) ~gripper_tip_x (double, default: -0.002) ~gripper_tip_y (double, default: -0.020) ~gripper_tip_z (double, default: -0.0185)

Required tf Transforms

<fixed_frame><tip_frame>

Provided tf Transforms

<camera_frame><target_frame>


2019-10-12 13:13