UR3机械臂使用kinect2相机利用easy_hand手眼标定

１.下载easy_handeye(标定的工具包)

https://github.com/IFL-CAMP/easy_handeye

2.下载vision_visp(标定过程调用)

https://github.com/lagadic/vision_visp

3. 下载aruco_ros(标定过程调用)

https://github.com/pal-robotics/aruco_ros

4. 进入/catkin_ws/src/easy_handeye/docs/example_launch目录下

官方提供的是UR5版本，修改为UR3版本，如下：

<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" />
<arg name="marker_id" doc="The ID of the ArUco marker used" />

<!-- start the Kinect -->(我用的是kinect2：参考https://github.com/code-iai/iai_kinect2)
<include file="$(find kine