Easy_handeye Step by Step Instructions

1. roslaunch easy_handeye easyhandeye.launch
   This launch file start the robot; camera; Aruco; easy_handeye. Double check the setting value for the Marker_size and id. The author uses 0.14m and 100 id Marker. And you will see the following image.
   2. Attention Please!!!Attention Please!!!Attention Please!!! Click the third upleft square corner to Maximize the screen, like the following image shows.
   3. Move the mouse to the up black bar and click the Plugins→Visualization→Image view
   
   And you will get the following image showing
   
   4.-----Find and choose the /aruco_tracker/result topic (below the Image View) and the image will be show as following. The right side is the recognized Aruco Marker.
   
   5.-- Clike the Take Sample button (below the Actions) and move the kinova robot with control handle for about 25 different pose and take each sample and then click the Compute to get the transformation matrix between the camera and robot.