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success_baxter_camera_calibration

License - MIT
Maintainer - zhi.tan@ri.cmu.edu

This package contains two parts (1) An interface to allow us to calibrate baxter's hand and head camera, and (2) a node that publishes those information independent of the original camera.

This is to mainly work around the fact that Baxter's camera's initial calibration file seemed to be incorrect.

Steps

  1. Run the following code to start calibration
roslaunch success_baxter_camera_calibration calibrate.launch camera:="<name of the camera you want>" image_topic:="'/cameras/left_hand_camera/image'"

You will then see a calibration window with the image shown. Follow the steps here. Once you press commit, it will save a .yaml configuration file in ${PACKAGE_ROOT}/calibration_files/<camera_name>.yaml

  1. To publish the camera information, run
roslaunch success_baxter_camera_calibration cam_info_pub.launch pub_topic:="<name of the topic you want to publish the camera info>" file_path:=<path that you specify before. If you just put <camere_name>, it will automatically try resolve to ${PACKAGE_ROOT}/calibration_files/<camera_name>.yaml>

This will then publish the camera_info at a rate of 10Hz