No version for distro crystal. 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 melodic. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.15
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 2019-04-16
Dev Status DEVELOPED
Released RELEASED

Package Description

The jsk_calibration package

Additional Links

No additional links.

Maintainers

  • Ryohei Ueda

Authors

No additional authors.

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

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged jsk_calibration at answers.ros.org