UR5+ROS Kinetic+easy_handeye手眼标定教程(eye-to-hand)

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1. 手眼标定类型

• eye-to-hand 眼在手外
• eye-in-hand 眼在手上

2. 标定算法

Tsai-Lenz：文献地址
opencv有该算法的具体实现。

3. 系统环境

• Ubuntu 16.04
• ROS Kinetic
• Python 2.7
• 深度摄像头奥比中光Astra Mini & IntelRealsense D435i（标定根据实际环境变换）

4. 标定流程

4.1 配置ROS环境

点击进入官方Kinetic版本配置教程

4.2 安装依赖

4.2.1 UR驱动选择

两者编译工具有区别，3.9及以下使用catkin_make，3.10及以上的使用catkin_make_isolated

UR机器人系统版本	驱动选择
$$version\le 3.9$$	ur_modern_driver
$$version\ge 3.10$$	ur_robot_driver

4.2.1.1 UR5机器人系统小于等于3.9版本

源码编译 ur5 & ur_modern_driver

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
cd universal_robot
git clone -b kinetic-devel https://github.com/ros-industrial/ur_modern_driver.git

cd ~/catkin_ws
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc 

4.2.1.2 UR5机器人系统大于等于3.10版本

• 一般安装

# source global ros
source /opt/ros/<your_ros_version>/setup.bash

# create a catkin workspace
mkdir -p catkin_ws/src && cd catkin_ws

# clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

# clone fork of the description. This is currently necessary, until the changes are merged upstream.
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot

# install dependencies
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace. We need an isolated build because of the non-catkin library package.
catkin_make

# activate the workspace (ie: source it)
source devel/setup.bash

提示CMake错误，请使用全源码编译

• 全源码编译（All-source build）

source /opt/ros/<your_ros_version>/setup.bash
mkdir -p catkin_ws/src && cd catkin_ws
git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y
catkin_make_isolated
source devel_isolated/setup.bash

更多安装信息请到官方仓库查看Universal_Robots_ROS_Driver（ur_robot_driver）

4.2.2 aruco_ros安装

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/pal-robotics/aruco_ros.git
cd ..
catkin_make

4.2.3 vision_visp / visp_hand2eye_calibration安装

该依赖请联网安装，否则编译时会提示404的情况

cd ~/catkin_ws/src
git clone -b kinetic-devel https://github.com/lagadic/vision_visp.git
cd ..
catkin_make --pkg visp_hand2eye_calibration

4.2.4 easy_handeye安装

cd ~/catkin_ws/src
git clone https://github.com/IFL-CAMP/easy_handeye
cd ..
catkin_make

4.2.5 摄像头驱动安装

4.2.5.1 奥比中光摄像头

官方仓库：https://github.com/orbbec/ros_astra_camera

# 1.安装依赖
sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
# 2.clone仓库
cd ~/catkin_ws/src
git clone https://github.com/orbbec/ros_astra_camera
# 3.Create astra udev rule
roscd astra_camera
./scripts/create_udev_rules
# 4.编译
cd ~/catkin_ws
catkin_make --pkg astra_camera

启动指令

roslaunch astra_camera astra.launch

4.2.5.2 IntelRealsense摄像头

ROS+ubuntu 16.04配置IntelRealsense深度摄像头节点

4.3 打印ArUco marker

在线生成地址：https://chev.me/arucogen/

• 选Original ArUco
• marker id&size 根据自己实际情况选择
• 点击open打印

4.4 编写配置文件

4.4.1 复制配置文件模板到launch目录

cd ~/catkin_ws/src/easy_handeye/docs/example_launch
cp ur5_kinect_calibration.launch ~/catkin_ws/src/easy_handeye/easy_handeye/launch/eye_to_hand_calibration.launch

4.4.2 修改配置文件

• 打开启动文件

# 没GUI的用vim代替gedit
sudo gedit ~/catkin_ws/src/easy_handeye/easy_handeye/launch/eye_to_hand_calibration.launch

• 修改内容

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />
    <arg name="robot_ip" doc="The IP address of the UR5 robot" />
    
	<!-- 修改这两个arg的default为第4.3节自己填写的id和尺寸 -->
    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.05"/>
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="570"/>

	<!-- 修改为自己相机依赖的启动文件 -->
    <include file="$(find astra_camera)/launch/astra.launch" >
    </include>

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
    	<!-- remap代表映射关系 -->
    	<!-- /camera_info映射到自己摄像头rgb节点的camera_info的topic -->
        <remap from="/camera_info" to="/camera/rgb/camera_info" />
        <!-- /image映射到自己摄像头rgb节点的image_raw(raw类型的图像输出topic)-->
        <remap from="/image" to="/camera/rgb/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <!-- reference_frame和camera_frame如何选择请其他教程1 -->
        <param name="reference_frame"    value="camera_rgb_optical_frame"/>
        <param name="camera_frame"       value="camera_rgb_optical_frame"/>
        <!-- 这里不用更改，填camera_marker就可以 -->
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- start the robot -->
    <!-- 3.9及以下写ur_modern_driver,3.10及以上写ur_robot_driver -->
    <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
        <arg name="limited" value="true" />
        <!-- 填写机器人局域网ip地址 -->
        <arg name="robot_ip" value="193.169.10.50" />
    </include>
    <include file="$(find ur5_moveit_config)/launch/ur5_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" />

		<!-- value与上面camera_frame一致 -->
        <arg name="tracking_base_frame" value="camera_rgb_optical_frame" />
        <!-- 这里不用更改，填camera_marker就可以 -->
        <arg name="tracking_marker_frame" value="camera_marker" />
        <!-- robot_base_frame代表机械臂的基座对应的frame -->
        <arg name="robot_base_frame" value="base_link" />
        <!-- robot_effector_frame代表与ArUco码位置相对固定的关节所对应的frame -->
        <arg name="robot_effector_frame" value="wrist_3_link" />

        <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>

图TF1

图TF2

4.5 开始标定

4.5.1 启动easy_handeye

roslaunch easy_handeye eye_to_hand_calibration.launch

4.5.2 启动成功会打开三个界面

• 1.rviz能够看到机械臂位姿的仿真器页面
  

• 2.能够take sample采集图像的rqt界面
  

• 3.能够自动改变机械臂位姿的rqt界面
  

如果第二个界面没有顶部菜单栏打不开plugins，请看此教程 - ROS系统easy_handeye手眼标定rqt_easy_handeye没有菜单栏无法打开aruco码位姿检测图像(plugins)的解决方法

4.5.3 标定流程

在image_view先检测/aruco_tracker/result topic返回的图像是否有返回ArUco marker的位姿

操作流程如下图所示：

注意事项：

• 界面3每次点击完都需要等待机械臂反馈
• 如果image_view没有检测到ArUco marker请调整机械臂位姿

最终标定结果如下图所示，图片大于两张Tsai-Lenz算法就能求解。
结果为平移向量+四元数模式: $x,y,z+q_x,q_y,q_z,q_w$。

其他

1. 使用查看rgb图像的frame_id

在terminal输入rqt命令打开rqt界面，接入摄像头并启动，找到摄像头rgb节点raw图像的topic，打上勾，展开后查看header下面的frame_id填写到easy_handeye的配置文件的reference_frame和camera_frame的value上

2. 是否需要将摄像头内参数据文件存放到指定目录

不需要, 软件通过摄像头的camera_info节点获取摄像头内参。

3. easy-handeye IntelRealsense & UR3.10系统配置文件备份

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />
    <arg name="robot_ip" doc="The IP address of the UR5 robot" />
    
	<!-- 修改这两个arg的default为第4.3节自己填写的id和尺寸 -->
    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.05"/>
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="570"/>

	<!-- 修改为自己相机依赖的启动文件 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
    </include>

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
    	<!-- remap代表映射关系 -->
    	<!-- /camera_info映射到自己摄像头rgb节点的camera_info的topic -->
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <!-- /image映射到自己摄像头rgb节点的image_raw(raw类型的图像输出topic)-->
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <!-- reference_frame和camera_frame如何选择请其他教程1 -->
        <param name="reference_frame"    value="camera_rgb_optical_frame"/>
        <param name="camera_frame"       value="camera_rgb_optical_frame"/>
        <!-- 这里不用更改，填camera_marker就可以 -->
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- start the robot -->
    <!-- 3.9及以下写ur_modern_driver,3.10及以上写ur_robot_driver -->
    <include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
        <arg name="limited" value="true" />
        <!-- 填写机器人局域网ip地址 -->
        <arg name="robot_ip" value="193.169.10.50" />
    </include>
    <include file="$(find ur5_moveit_config)/launch/ur5_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" />

		<!-- value与上面camera_frame一致 -->
        <arg name="tracking_base_frame" value="camera_rgb_optical_frame" />
        <!-- 这里不用更改，填camera_marker就可以 -->
        <arg name="tracking_marker_frame" value="camera_marker" />
        <!-- robot_base_frame代表机械臂的基座对应的frame -->
        <arg name="robot_base_frame" value="base_link" />
        <!-- robot_effector_frame代表与ArUco码位置相对固定的关节所对应的frame -->
        <arg name="robot_effector_frame" value="wrist_3_link" />

        <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>