Kinova与SR300手眼标定

主要参考https://github.com/IFL-CAMP/easy_handeye/issues/19

https://blog.csdn.net/zhang970187013/article/details/81098175

1.在ubuntu16上安裝moveit和kinova

kinova正常安装会提示报错，因此参考这个教程 Kinovarobotics/kinova ros#190

The steps should look like :
cd ~/catkin_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
git checkout master 
git checkout 94c25e1
cd ~/catkin_ws
catkin_make

能正常安装，但是运行roslaunch j2n6s300_moveit_config j2n6s300_demo.launch的时候

在rviz中拖动小球，无法正常使用plan和execution

因此按照博客https://blog.csdn.net/zhaoxl66/article/details/80372297修改

2.获取相机的内参

sr300可以直接获取，因此跳过哈

3.安装easy_handeye和aruco_ros

visp的依赖  sudo apt-get install ros-kinetic-vision-visp

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

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

4.写launch程序

https://github.com/IFL-CAMP/easy_handeye/blob/master/docs/example_launch/ur5_kinect_calibration.launch

主要修改的地方