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add configuration to calibrate pose of checkerboard with 2d camera
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# This is a sample for testing the 2d checkerboard finder | ||
# No part of the robot is actually being calibrated, | ||
# It will simply find the checkerboard pose in the hand | ||
robot_calibration: | ||
ros__parameters: | ||
verbose: true | ||
base_link: torso_lift_link | ||
calibration_steps: | ||
- single_calibration_step | ||
single_calibration_step: | ||
models: | ||
- arm | ||
- camera | ||
arm: | ||
type: chain3d | ||
frame: wrist_roll_link | ||
camera: | ||
type: camera2d | ||
frame: head_camera_rgb_optical_frame | ||
free_frames: | ||
- checkerboard | ||
checkerboard: | ||
x: true | ||
y: false | ||
z: true | ||
roll: true | ||
pitch: true | ||
yaw: true | ||
error_blocks: | ||
- hand_eye | ||
hand_eye: | ||
type: chain3d_to_camera2d | ||
model_2d: camera | ||
model_3d: arm |
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ubr1_calibration/scripts/checkerboard_2d/checkerboard_2d_manually
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#!/bin/bash | ||
|
||
# ros2 launch (from python) doesn't seem to pipe stdin to our node, so manual capture doesn't work | ||
ros2 run robot_calibration calibrate --manual --ros-args --params-file ../../config/checkerboard_2d/capture.yaml --params-file ../../config/calibrate.yaml | ||
ros2 run robot_calibration calibrate --manual --ros-args --params-file ../../config/checkerboard_2d/capture.yaml --params-file ../../config/checkerboard_2d/calibrate.yaml |