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Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro jazzy showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro kilted showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro rolling showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro ardent showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro bouncy showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro crystal showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro eloquent showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro dashing showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro galactic showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro foxy showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro iron showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

No version for distro lunar showing jade. Known supported distros are highlighted in the buttons above.
Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
jade

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
indigo

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control
drc_task_common

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
hydro

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
kinetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
melodic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange

Package symbol

jsk_calibration package from jsk_control repo

cmd_vel_smoother contact_states_observer eus_nlopt eus_qp eus_qpoases eus_teleop joy_mouse jsk_calibration jsk_control jsk_footstep_controller jsk_footstep_planner jsk_ik_server jsk_teleop_joy

ROS Distro
noetic

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.18
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_control.git
VCS Type git
VCS Version master
Last Updated 2024-12-09
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.
jsk_calibration/README.md

jsk_calibration

This is a utility package for hand/eye calibration using ros-perception/calibration.

This package generates sampling poses automaticaly using euslisp robot models.

Each robot documentation

Calibrate robot

calibration process has two steps.

  1. capture data.

Move robot and capturing data into a bag file.

  roslaunch capture_data.launch
  1. estimate parameters.

Estimate calibration parameter from the bag file.

  ./calibrate_${ROBOT}.sh

And you will have calibrated urdf file.

You can check progress of estimation parameters by rviz:

  rosrun rviz rviz -d view_results/pose_guesses.rviz

pose_guesses

  1. If calibration takes a lot of time, please use initial_pose.yaml. Update your system.yaml by adding initial_poses: /path/to/initial_pose.yaml.

Update sampling poses

  • HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)

Algorithm

  1. Sampling several joint angles (for example, head joints).
  2. Sampling distance from camera to checker board.
  3. Sampling agnles around x, y and z axis of checker board.
  4. Solve ik toward target coordinates of checker board.
  5. Check self-collision.
  6. For all specified sampling joints and angles, compute collision-free poses by 1-5
  7. Choose good poses randomly and sparsely
  8. Check self-collision for interpolated poses
  9. Remove colliding poses
  10. Get collision-free and different poses

Utility scripts

  • joint_states_appender.py

ros calibration software is not designed to handle multiple joint states.

On the other hand, several robot has multiple joint states, it is that several nodes publishes /joint_states.

In order to resolve this mismatch, joint_states_appender subscribes /joint_states and append multiple joint states and publish it into /joint_states_appended.

Setting Files

  • capture_data
capture_data/capture_data.launch
  capture_data/capture_exec.launch  // -> samples / harware_config / system.yaml
  capture_data/all_viewers.launch   // annoted_viewer
  capture_data/all_pipelines.launch // launch calibration_launch
    capture_data/settler.launch     // limb_chain/... | settler_action
      capture_data/interval.launch  // limb_chain, xxx_camera

capture_data/samples/
  initial_poses.yaml // guess poses of checkerboard
  01_RARM/  // pose settings / use camera/settings, pose/using_chain
  00_LARM/

capture_data/hardware_config/
  chain_config.yaml       // limb_chain
  laser_config.yaml       // not used
  controller_config.yaml  // ??? fullbody for jaxon/hrp2
  cam_config.yaml         // xxx_camera
  • estimate_params

~~~

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package jsk_calibration

0.1.18 (2024-12-09)

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

  • remove roseus from CMakeLists.txt (#773)
  • [joint_states_appender.py]add queue_size (#734)
  • 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
  • Contributors: Kei Okada, Naoki Hiraoka

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

  • CMakeLists.txt: remove pr2_* dependency, add install
  • Contributors: Kei Okada

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

  • fix checker board spacing parameters to be 0.03
  • [jsk_calibration] Modify checkerboard spacing values and modify README
  • fix hrp2w_calibration
  • update for hrp2w_calibration
  • add readme comment
  • change multisense -> xtion (or carmine)
  • delete file before rename
  • [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
  • add files for hrp2w
  • [jsk_control/jsk_calibration] Fix typo.
  • Contributors: Kohei Kimura, Yohei Kakiuchi

0.1.9 (2016-03-23)

  • [jsk_calibration] Update camera config parameter for JAXON Modified:
    • jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
  • [jsk_calibration] Add forgotten config file for rviz viewer
  • [jsk_calibration] add utilitiy for jaxon_calibration
  • [jsk_calibration][JAXON_RED] update poses for calibration
  • [jsk_calibration] Add calibration viewer for manual calibration
  • {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
  • Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

  • [jsk_calibration] Fix typo in README
  • Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

  • rename url
  • [JAXON] add jaxon_calibration
  • [JAXON] add motion generation method for jaxon camera calibration
  • [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
  • [jsk_calibration] Update HRP2JSKNT calibration for multisense
  • [jsk_calibration] Update README.md
  • [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
  • [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
  • [jsk_calibration] Fix documentation to show image
  • [jsk_calibration] update documentation
  • [jsk_calibration] Add launch files for hrp2jsknts calibration
  • [jsk_calibration] Add hrp2jsknts to hrp2-calibration
  • [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
  • Updated to generate motion for hrp2w
  • use least rpy angle for compatibility?
  • add initial_poses.yaml for staro, and some update for staro calib
  • [jsk_calibration] udpate parameters for staro
  • fix board parmeter
  • update poses for staro
  • update generate-staro-files
  • fix camera joint name
  • update camera name
  • [jsk_calibration] Fix robust-motion bug and not use it as default
  • [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
  • [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
  • [jsk_calibration] Write initial_poses.yaml to speed up optimization

File truncated at 100 lines see the full file

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roseus
pr2_msgs
pr2_controllers_msgs
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
jsk_control

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at Robotics Stack Exchange