UR5手眼标定

一、实验设备

UR5机械臂

Realsense d435

Ubuntu18.04（ros melodic)

二、功能包

realsenseSDK2.0

realsense-ros

ddynamic_reconfigure

Universal_Robots_ROS_Driver

fmauch_universal_robot

aruco_ros

vision_visp

easy_handeye

三、ur5通讯连接

1、网络连接修改为桥接模式

2、开启ur5并用网线连接电脑，手动设置ip地址

3、设置ur5自身网络

设置机器人-网络-ip地址

4、ur设置External Control网络

机器人编程-加载程序-打开externalcontrol.urp-安装设置-External control-设置ip地址、端口

5、确认连接状况

ctrl+alt+t打开终端

ping 192.168.56.101

连接成功 

 

四、手眼标定

1、准备标定板

标定板网站

打印好之后就固定在机械臂末端

2、编写launch文件

easy_handeye 包中给出了用一个 launch 文件实现的示例，在如下的目录中：easy_handeye/docs/example_launch/ur5_kinect_calibration.launch，这里只有ur5+kinect的，ur5+realsense的修改即可。

修改后的launch文件放在easy_handeye/easy_handeye/launch/eye_to_hand_calibration.launch目录下。

修改launch文件如下：

<launch>
    <arg name="namespace_prefix" default="ur5_realsense_handeyecalibration" />
 
    <arg name="robot_ip" doc="The IP address of the UR5 robot" />
 
    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.1" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="582"/>
 
   <!-- start the realsen435 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" >
    </include>
    
    <!-- 2. start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <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)"/>
        <param name="reference_frame"    value="camera_color_optical_frame"/>
        <param name="camera_frame"       value="camera_color_optical_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>
 
 
<!-- start the robot -->
    <include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
        
        <arg name="robot_ip" value="192.168.56.101" />
	<arg name="kinematics_config" value="$(find example_organization_ur_launch)/etc/ur5_calibration.yaml" />
    </include>
    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
        
    </include>
    
    
    
    <!-- 4. 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" />
 
        <arg name="tracking_base_frame" value="camera_link" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base" />
 
        <arg name="robot_effector_frame" value="tool0" />
 
        <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>

 3、手眼标定过程

1)运行launch文件

        ctrl+alt+t打开终端

cd catkin_ws_ur

source devel/setup.bash

        打开四个标签页，依次启动这几个launch文件（前面三个launch可以不启动，直接运行最后一个然后启动示教器，因为前面三个在我们最后一个的launch文件里面会依次打开，）

        ① 启动realsense

roslaunch realsense2_camera rs_camera.launch

        ② 启动ur机械臂

                a.启动机械臂

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.56.101 limited:=true

                b.启动示教器

                c.启动moveit

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

        ③ 启动手眼标定的其他程序

roslaunch easy_handeye eye_to_hand_calibration.launch

2）对跳出的三个界面进行设置