Clopema description (package)

This package contains URDF and XACRO files which describes CloPeMa robot testbed.
Also calibration files are stored in this package and are applied to the robot description when catkin_make --force is called. At first installation it is necessary to compile it twice because a first time only the calibration node is compiled and on second call calibration data is applied to the robot using calibration node.
Another (faster) way of application calibration data to the model is to call following commands:

roscd
rosrun clopema_description calibrate.sh ./

Calibration files description

Calibration files are stored in the folder calibration_{ partner }. All files from this folder, except *.yaml, are loaded automatically during calibration process.
Extension .yaml is ignore because it is usually related to the camera intrinsic parameters which are loaded by the camera driver and are not part of the robot description.
Calibration file format:

#number describing type of calibration data
#calibration type specific parameters (see below)

Joint position/rotation

New joint position position with respect to the parent specified in URDF.

Format:
1
joint_name
position_x position_y position_z rotation_roll rotation_pitch rotation_yaw
---
Example:
1
r1_joint_f1
0.00015976 -0.247617 0.16078 0.274337 -0.0134984 3.67321e-06

Link position/rotation

New link position position with respect to the parent specified in URDF.

Format:
2
link_name
4x4 Transformation matrix from child to parent
---
Example:
2
t2_desk
0.999577 0.000536042 0.0251424 -0.0167586
1.38335e-05 0.999654 -0.0218629 1.11438
-0.0251508 0.0218586 0.999445 -0.669171
0 0 0 1

Denavit–Hartenberg parameters of specified arm

Format:
3
arm_prefix
7x4 matrix of DH where each row is in format: theta, d, alpha, a
---
Example:
3
r1
0 0 0 0
-0.0046456515 0.4500000000 -1.5714096167 0.1497773811
4.7135088503 0.0000000000 3.1410852985 0.6146460518
-0.0002414119 0.0001494833 -1.5698438599 0.2001397531
0.0008198870 -0.6399634132 1.5707999045 -0.0003928188
4.7064508530 0.0005427830 1.5717426511 0.0317761853
0 0.2 0 0

Modified Denavit–Hartenberg parameters of specified arm

Is used for application mechanical robot calibration data because.
Experimental, format may changed.

Format:
4
arm_prefix
7x5 matrix of MDH where each row is in format: alpha, a, theta, d, is_mdh
---
If is_mdh flag is equal to 1 MDH is used instead of DH as follow:
rz(theta)*tx(d)*rx(alpha)*ry(a) # ie. 2-3-0-1 (id of param)

Inertial - gripper centroid and mass

Calibration of the force sensor

Format:
5
link
x y z roll pitch yaw mass
---
Example:
2
r2_force_sensor
-0.001911 0.002809 0.087552 0.000000 0.000000 0.000000 2.938528