ur3手眼标定+realsenseL515

手眼标定
知乎
csdn
相机到机器人

内参数
1.ur3_realsense_calibration.launch

<launch>
    <arg name="namespace_prefix" default="ur3_realsense_handeyecalibration" />
 
    <arg name="robot_ip" doc="The IP address of the UR3 robot" />
 
    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.1" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="100" />
 
    <!-- start the realsense -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
    </include>
    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="0.1"/>
        <param name="marker_id"          value="100"/>
        <param name="reference_frame"    value="camera_color_frame"/>
        <param name="camera_frame"       value="camera_color_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>
 
   <!-- start the robot -->
<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
    <arg name="limited" value="true" />
    <arg name="robot_ip" value="192.168.31.64" />
</include>
<include file="$(find ur3_moveit_config)/launch/ur3_moveit_planning_execution.launch">
    <arg name="limited" value="true" />
</include>
 
    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="false" />
 
        <arg name="tracking_base_frame" value="camera_color_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="tool0_controller " />
 
        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>
 
</launch>

2.启动标定程序:roslaunch ur3_realsense_calibration.launch

3.将标定的结果实时显示出来：

   方式1:查看home隐藏文件夹.ros/easy_handeye下标定结果文件yaml。将变换矩阵按照以下格式写 static_transform_publisher.launch文件改写一个实时（100hz）发布位置转换关系的launch文件，放在easy_handeye/easy_handeye/launch(和之前的ur3_realsense_calibration.launch在一个包里)，这里的args 分别对应x y z qx qy qz qw frame_id child_frame_id  period_in_ms。

启动static_transform_publisher.launch文件
roslaunch static_transform_publisher.launch

<launch>  
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.7810954111863362 0.4362160638790268 0.16301827937001387 -0.20452635132067903 -0.7688849381709477 0.5396310162123635 0.275287649216088 base_link camera_link 100" />
</launch>

方式2:利用easy_handeye文件夹下面的publish.launch文件。将static_transform_publisher添加在该launch文件的末尾处，如下:

</group>
    <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args=" 0.7810954111863362 0.4362160638790268 0.16301827937001387 -0.20452635132067903 -0.7688849381709477 0.5396310162123635 0.275287649216088 base_link camera_link 100" />  

启动 roslaunch easy_handeye publish.launch eye_on_hand:=false namespace_prefix:=ur3_realsense_handeyecalibration即可将获得的手眼标定结果成功的发布出去。

4.标定完成后temerial末尾会得到从相机转世界的刚体变换矩阵