1.realsense-ros功能包安装
找到对应ros版本的功能包
mkdir -p my_ws/src
cd my_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout 2.3.2
cd ..
catkin_make
2.下载手眼标定包(https://gitee.com/ohhuo/handeye-calib)
cd my_ws/src
git clone https://gitee.com/ohhuo/handeye-calib.git
cd ..
catkin_make
3.标定流程
roscore
roslaunch realsense2_camera rs_rgbd.launch
rostopic list
/camera/color/camera_info
/camera/color/image_raw
找到上面两个话题,将上面两个话题改进o_start_usb_cam.launch文件中
修改aruco_start_usb_cam.launch文件参数,并且删除usb_cam节点
roslaunch /home/ply/handeye-calib/src/handeye-calib/launch/aruco/aruco_start_usb_cam.launch
根据实际位置来运行aruco_start_usb_cam.launch文件
运行下面指令输出标定信息
rostopic echo /aruco_single/position (欧拉角)
rostopic echo /aruco_single/pose (四元数)