Verifying the Calibration

Once the robot is calibrated, we need to do a sanity check on the sensor streams to ensure that they're calibrated. All of these checks will be done through rviz.

Restart the robot:

sudo robot stop
sudo robot start

On the robot, start moving the tilt scanner

rosrun pr2_calibration_launch robot_cal_tilt_profile.py laser_tilt_controller

To easily move the arms, you can start mannequin mode

roslaunch pr2_mannequin_mode pr2_mannequin_mode.launch

On your local machine, bring up rviz:

source /opt/ros/fuerte/setup.sh
export ROS_MASTER_URI=http://prXXXX:11311
rosrun rviz rviz

Check various sensor pairs

Ensure that both the fixed frame and target frame are in the base_link

1. Narrow Stereo against both arms

   • Bring up narrow_stereo/points point cloud view

   • Verify that point cloud matches up with robot model
2. Wide Stereo against both arms

   • Bring up wide_stereo/points point cloud view

   • Verify that point cloud matches up with robot model
3. Forearm cameras against both arms

   • Bring up r_forearm_cam/image_rect & l_forearm_cam/image_rect camera views

   • Make sure robot model matches up with both arms in images
4. Tilt laser against arms

   • Bring up tilt_scan laser scan view

   • Make sure robot model arms both match up with points
5. Tilt laser against wide stereo

   • Bring up tilt_scan laser scan view

   • Bring up wide_stereo/left/image_rect camera view

   • Place large checkerboard in view of camera
   • Verify that laser points on checkerboard match up with image
6. Tilt laser against narrow stereo

   • Bring up tilt_scan laser scan view

   • Bring up narrow_stereo/left/image_rect camera view

   • Place large checkerboard in view of camera
   • Verify that laser points on checkerboard match up with image