机械臂手眼标定方法

1.realsense-ros功能包安装

找到对应ros版本的功能包

mkdir -p my_ws/src
cd my_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout 2.3.2
cd ..
catkin_make

2.下载手眼标定包(https://gitee.com/ohhuo/handeye-calib)

cd my_ws/src
git clone https://gitee.com/ohhuo/handeye-calib.git
cd ..
catkin_make

3.标定流程

roscore
roslaunch realsense2_camera rs_rgbd.launch
rostopic list

 

/camera/color/camera_info
/camera/color/image_raw

找到上面两个话题，将上面两个话题改进o_start_usb_cam.launch文件中

修改aruco_start_usb_cam.launch文件参数，并且删除usb_cam节点

 

roslaunch /home/ply/handeye-calib/src/handeye-calib/launch/aruco/aruco_start_usb_cam.launch

 根据实际位置来运行aruco_start_usb_cam.launch文件

 运行下面指令输出标定信息

rostopic echo /aruco_single/position  (欧拉角)
rostopic echo /aruco_single/pose  （四元数）