This meta-package is developed for UR5 hand-eye calibration with an ensenso 3D camera. ur5_ensenso_description contains URDF describing the mechanical setup, while ur5_handeye_calibration_moveit_config is generated by moveit setup assistant based on such setup. ur5_handeye_calibration is used for moving UR, collecting images and peroforming the final calibration computation.
Go to you ROS workspace
cd ~/catkin_ws/src
Clone this repo
git clone https://github.com/birlrobotics/birl_ur5_handeye_calibration.git
Go to the offical website and follow the instructions
Go to you ROS workspace
cd ~/catkin_ws/src
Clone birl_ensenso
git clone https://github.com/birlrobotics/birl_ensenso.git
Go to you ROS workspace
cd ~/catkin_ws/src
Clone ur_modern_driver
git clone https://github.com/ThomasTimm/ur_modern_driver.git
Activate the UR driver. Mak sure you have the correct network configuration and have the cable connected to UR.
roslaunch ur_modern_driver ur5_bringup.launch
Start move group node for UR.
roslaunch ur5_handeye_calibration_moveit_config ur5_moveit_planning_execution.launch
Or you can start it in simulaiton mode.
roslaunch ur5_handeye_calibration_moveit_config ur5_moveit_planning_execution.launch sim:=true
Launch ensenso camera node. Make sure you already have the camera connected to the PC.
roslaunch ensenso ensenso_bringup.launch
Finally, start the hand-eye calibration.
roslaunch ur5_handeye_calibration hand_eye_calibration.launch
Pay attention to the parameters in the launch file. Please change them accordingly.
Try following commands to check whether these packages can work.
roslaunch ur_gazebo ur5.launch
roslaunch ur5_handeye_calibration_moveit_config ur5_moveit_planning_execution.launch sim:=true
roslaunch ensenso ensenso_bringup.launch
Note that you still have to connect the camera to computer before launching the camera.
roslaunch ur5_handeye_calibration hand_eye_calibration.launch
Now, look at gazebo and check if UR is moving for capturing images from different viewpoints.