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README-calibration.md

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Instructions to run the hand-eye calibration procedure

This file explains how to

  • plan, execute motions that move the camera in front of a chessboard,
  • collect eye to hand calibration data,
  • compute and save hand eye calibration parameters

  1. connect to the ip adress of the robot using firefox. On akasan, this address is 172.17.1.3.

  2. release the brakes,

  3. activate FCI,

  4. in terminal 1, in this directory

    roslaunch robot.launch arm_id:=panda2 robot_ip:=172.17.1.3

  5. to start the camera

    roslaunch realsense2_camera rs_camera.launch

  6. to start agimus / SoT

    roslaunch demo.launch calibration:=true

  7. Start hppcorbaserver

    hppcorbaserver

  8. Start the GUI

    gepetto-gui

  9. run calibration.py script in a terminal

cd agimus-demos/franka/manipulation
python -i calibration.py

This should compute some paths going to configurations where the robot looks at the chessboard.

In the same terminal, display the robot and environment:

>>> v = vf.createViewer()

  1. place the chessboard as shown in gepetto-gui.

  2. in a new terminal,

python -i run_calibration.py

This should - execute the motions planned by step 9 and collect data at each way point, - save the data in directory measurements, - compute the pose of the camera in the end effector, and - save it in config/calibrated-params.yaml.

  1. You can then commit the latter file and re-install agimus-demos package.