easy-handeye标定注意事项

参考坐标系问题

简单相机-如只有RGB广角相机

只有一个坐标系，就是Aruco跟踪坐标系是RGB相机的坐标系，最终标定的坐标系也是同一个坐标系，也就是下面的camera_frame

<!-- 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=""/>
<param name="camera_frame" value="camera_link"/>
<param name="marker_frame" value="camera_maker" />
</node>
<!-- 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="start_rviz" value="false"/>
<arg name="move_group_namespace" value="" />
<arg name="move_group" value="dofbot" />
<arg name="tracking_base_frame" value="camera_link" />
<arg name="tracking_marker_frame" value="camera_maker" />
<arg name="robot_base_frame" value="base_link" />
<arg name="robot_effector_frame" value="link6" />
<arg name="freehand_robot_movement" value="false" />
<arg name="robot_velocity_scaling" value="0.5" />
<arg name="robot_acceleration_scaling" value="0.2" />
</include>
 
而要进行aruco定位的时候，如下面的camera_frame也是camera_link
 
<!-- 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=""/>
<param name="camera_frame" value="camera_color_optical_frame"/>
<param name="marker_frame" value="camera_maker" />
</node>

RGBD等复杂相机-本身具备多个坐标系关系

对于RGBD等多个坐标系的相机，标定的结果一定是camera_link(也就是相机tf系列的基坐标系），而aruco跟踪一定是RGB相机的坐标系

<!-- 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=""/>
<param name="camera_frame" value="camera_color_optical_frame"/>
<param name="marker_frame" value="camera_maker" />
</node>
<!-- 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="start_rviz" value="false"/>
<arg name="move_group_namespace" value="" />
<arg name="move_group" value="dofbot" />
<arg name="tracking_base_frame" value="camera_link" />
<arg name="tracking_marker_frame" value="camera_maker" />
<arg name="robot_base_frame" value="base_link" />
<arg name="robot_effector_frame" value="link6" />
<arg name="freehand_robot_movement" value="false" />
<arg name="robot_velocity_scaling" value="0.5" />
<arg name="robot_acceleration_scaling" value="0.2" />
</include>
 
而要进行aruco定位的时候，如下面的camera_frame也是camera_link
 
<!-- 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=""/>
<param name="camera_frame" value="camera_color_optical_frame"/>
<param name="marker_frame" value="camera_maker" />
</node>

末端执行器坐标系的选定

下面是首演标定参数配置，标定类型不同，参数robot_effector_frame 不同

<!-- 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="start_rviz" value="false"/>
<arg name="move_group_namespace" value="" />
<arg name="move_group" value="dofbot" />
<arg name="tracking_base_frame" value="camera_link" />
<arg name="tracking_marker_frame" value="camera_maker" />
<arg name="robot_base_frame" value="base_link" />
<arg name="robot_effector_frame" value="link6" />
<arg name="freehand_robot_movement" value="false" />
<arg name="robot_velocity_scaling" value="0.5" />
<arg name="robot_acceleration_scaling" value="0.2" />
</include>

眼在手上（eye on hand）

robot_effector_frame必须是固定相机的那个坐标系

眼在手外（eye to hand）

robot_effector_frame必须是固定ARuco码的坐标系