手眼标定-kinova-j2n6s300+zed

手眼标定-kinova-j2n6s300+zed

参考文章

理论：https://blog.csdn.net/weixin_36444883/article/details/84867362#EyetoHand_416
案例：
https://blog.csdn.net/zhang970187013/article/details/81098175
https://blog.csdn.net/sinat_23853639/article/details/80276848
https://blog.csdn.net/qq_29921623/article/details/85547654
https://blog.csdn.net/qq_34897331/article/details/100528140
参考easy_handeye代码：https://github.com/IFL-CAMP/easy_handeye
这里是纯仿真手眼标定的包：https://github.com/marcoesposito1988/easy_handeye_demo
二维码识别包：https://github.com/stereolabs/zed-ros-wrapper/tree/master/examples/zed_ar_track_alvar_example

出现的问题

一、calibrate.launch 中的move_group 的值manipulator改成arm

二、修改launch文件

修改easy_handeye中example_launch的示例文件即可，然后复制到easy_handeye的launch文件夹（和calibrate.launch一个文件夹下）。如果把启动相机的过程也写进launch文件的话会出现读取相机是的FPS不够（可能配置问题），所以相机以及识别二维码的包单独运行。

<?xml version="1.0" ?>
<launch>
<arg name="namespace_prefix" default="kinova_zed_handeyecalibration" />
<!-- start the robot -->
<include file="$(find kinova_bringup)/launch/kinova_robot.launch">
</include>
<include file="$(find j2n6s300_moveit_config)/launch/j2n6s300_demo.launch">
<node name="joint_state_publisher1" pkg="joint_state_publisher" type="joint_state_publisher">
</node>
</include>
  <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.042" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="582" />
    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <!-- <remap from="/camera_info" to="/zed/zed_node/left/camera_info" /> -->
        <remap from="/camera_info" to="/zed/zed_node/left/camera_info" />
        <!-- <remap from="/image" to="/zed/zed_node/left/image_color_rect" /> -->
        <remap from="/image" to="/zed/zed_node/left/image_rect_color" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name=