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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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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

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

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.1.17
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 2024-01-22
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
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh

estimate_params/config:
  system.yaml            // calibration system, board settings, chain settings, camera settings
  free_cb_locations.yaml // 1. just estimate cb location
  free_cameras.yaml      // 2. cb location and camera pose
  non_free_arms.yaml     // 3. 2. with head-yaw offset ???
  free_arms.yaml         // 4. with joint offset except tip joints
  free_torso.yaml        // 5. not used
  • view_results
view_results/ not so important, just for viewing results
CHANGELOG

Changelog for package jsk_calibration

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
  • update
  • [jsk_calibration] Fix typoe of the files
  • add estimate params
  • fix chain length
  • add staro_calibration

0.1.5 (2015-01-08)

  • Add utility script to test a lot of calibration parameters
  • Reduce sampling poses to 30
  • Sampling pose with configuration space and update sampling space of leg poses
  • Add legs to calibrate hrp2jsknt
  • Self Collisoin with small changes on joint angles to get stable position
  • Add calibration document
  • Select different poses with probability computation
  • Select good calibration sample from a lot of mother samples
  • Use dual arm to calibrate HRP2JSKNT
  • Filtering not good poses for calibration
  • Do not use gripper joint on HRP2JSKNT
  • Add rviz config to see pose_guesses marker
  • rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
  • Remove unused file
  • Update calibration for hrp2jsknt
  • Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
  • Generate motion with more strict collision check and add test method on real robot
  • Update parameters for hrp2jsknt
  • Add special reset-pose for leg calibration
  • Remove unused files
  • Add hrp2jsknt_calibration directory just copied from hironx_calibration
  • Add board to collision check and refine motion with interpolated angle vectors
  • Add method to check collision of interpolated motions
  • Add more depends
  • add legs motion
  • Implement hrp2 motion generation
  • Depends on pr2_msgs and pr2_controllers_msgs
  • Add jsk_calibration package for hand-eye calibration
  • Contributors: Ryohei Ueda

0.1.4 (2014-10-21)

0.1.3 (2014-10-10)

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

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.

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