鱼香ROS:https://gitee.com/ohhuo/handeye-calib
基于ROS的机械臂手眼标定-常见错误排查:https://blog.51cto.com/u_15473553/4956103
改完参数后运行以下程序
roslaunch handeye-calib aruco_start_realsense_sdk.launch
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=192.168.1.107
roslaunch handeye-calib online_hand_on_eye_calib.launch
roslaunch handeye-calib test_hand_on_eye_calib.launch #通过修改程序,能直接输出基坐标系下的点
没有实现此程序通过识别码得到位置,原因可能是没监听到aruco_marker_frame坐标系
rosrun tf tf_ech /camera_frame /object
标定原则
识别码要尽可能大,如0.1M0.18M
距离尽可能近
标准差(std),越稳定越好
安装transforms3d、opencv>4.1、
修改/home/bjut/handeye-calib/src/handeye-calib/src/handeye/tf_to_pose.py
报关于tf的错,
将首行的python3改成了#!/usr/bin/env python2
修改/home/bjut/handeye-calib/src/handeye-calib/src/test/test_hand_on_eye.py
报关于tf的错,
将首行的python3改成了#!/usr/bin/env python2
ERROR: cannot launch node of type [handeye-calib/test_hand_on_eye.py]: can't locate node [test_hand_on_eye.py] in package [handeye-calib]
解决:https://www.codenong.com/cs105856592/ 找到对应的test_hand_on_eye.py文件,属性,权限,将“允许作为程序执行文件”打勾