ur5 + realsense 眼在手上标定

1.参考链接

1）https://blog.csdn.net/m0_56661101/article/details/134860576?fromshare=blogdetail&sharetype=blogdetail&sharerId=134860576&sharerefer=PC&sharesource=qq_70851292&sharefrom=from_link
2）https://blog.csdn.net/weixin_45702459/article/details/139293764?fromshare=blogdetail&sharetype=blogdetail&sharerId=139293764&sharerefer=PC&sharesource=qq_70851292&sharefrom=from_link
3）https://zhuanlan.zhihu.com/p/33441113

2. intel realsense 的深度相机配置

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

3.配置easy_handeye和aruco_ros

# Go to src directory under your workspace
cd ~/ur5_ws/src
# Download repo    Aruco是一个用于检测和估计姿态的库 
# “easy handeye” 是一个用于手眼标定（Hand-Eye Calibration）的软件工具。
git clone https://github.com/IFL-CAMP/easy_handeye
git clone https://github.com/pal-robotics/aruco_ros.git --branch noetic-devel
# Go to your workspace
cd ~/ur5_ws
# Install dependencies  安装依赖
rosdep install -iyr --from-paths src

# Go to your workspace
cd ~/ur_ws
# Build your workspace   编译
catkin_make
# 更新环境变量
source ./devel/setup.bash 
source .bashrc 

3.准备标定板,一定要选择Original ArUco,但是最好是100mm

网站：https://chev.me/arucogen/

# 创建用于标定的launch文件
touch ur5_cali.launch

<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="0.165" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="55"/>
 
   <!-- 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="$(find ur_robot_driver)/launch/ur5_bringup.launch">
        <arg name="robot_ip" value="192.168.55.101" />
    </include>
    <include file="$(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="true" />
 
        <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>

查看ur5 ip,启动文件，<arg name="eye_on_hand" value="true" />眼在手上，marker_size尺寸和id
robot_base_frame,robot_effector_frame

4.标定

roslaunch easy_handeye ur5_cali.launch 

    rviz中Fixed Frame 选择为base,添加话题/aruco_tracker中的/resultdeimage，查看tf

首先check , take sample, Next pose,execute(Next pose,execute,重复直到图案在相机图像中)，然后就是take sample, Next pose,execute，重复16次，最后compute,save

bitranslation: 
  x: 0.08153486992230667
  y: 0.08917161860998708
  z: 0.04254003925205098
rotation: 
  x: -0.62178924917567
  y: -0.3208396282465462
  z: -0.6376606852273734
  w: 0.32222494172787386

5.创建发布tf变化的launch

touch ur5_cali.launch

<launch>
<!-- start the robot -->
  <include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
     
      <arg name="robot_ip" value="192.168.55.101" />
  </include>
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
      
  </include>
 
  <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
     
  </include>
  <arg name="serial_no"             default=""/>
  <arg name="json_file_path"        default=""/>
  <arg name="camera"                default="camera"/>
 
  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="serial_no"         value="$(arg serial_no)"/>
      <arg name="json_file_path"    value="$(arg json_file_path)"/>
      <arg name="depth_width"       value="640"/>
      <arg name="depth_height"      value="480"/>
      <arg name="depth_fps"         value="30"/>
      <arg name="color_width"       value="640"/>
      <arg name="color_height"      value="480"/>
      <arg name="color_fps"         value="30"/>
      <arg name="enable_depth"      value="true"/>
      <arg name="enable_color"      value="true"/>
      <arg name="enable_infra1"     value="false"/>
      <arg name="enable_infra2"     value="false"/>
      <arg name="enable_fisheye"    value="false"/>
      <arg name="enable_gyro"       value="false"/>
      <arg name="enable_accel"      value="false"/>
      <arg name="enable_pointcloud" value="true"/>
      <arg name="enable_sync"       value="true"/>
      <arg name="tf_prefix"         value="$(arg camera)"/>
    </include>
 
   // static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms
    <node pkg="tf2_ros" type="static_transform_publisher" name="ur5_broadcaster" args="0.11098614183021381 0.08257733459112608 0.0020134820545441396 -0.6102823667892885 -0.32919866299197686 -0.6520172498587709 0.306687428755996 tool0 camera_link" />
 
  </group>
</launch>

 查看ur5 ip,启动文件，x y z qx qy qz qw frame_id child_frame_id，工具坐标系tool0，相机坐标系

 roslaunch easy_handeye tfpc.launch

添加tf,查看相机位姿