Maintainer: Gerardo Aragon-Camarasa

1. Overview

This package interfaces the CloPeMa robot head with the CloPeMa stack. Specifically, this is used to create SMACH nodes for calibrating the robot head and this will serve as the main development package for future demonstrations in UG using the dual-arm robot.

2. Nodes

2.1 calibration_rh_complete.py

SMACH node that implements camera and hand-eye calibration using one robot arm. The objective of this node is to automate the robot head calibration. This node reads pre-defined robot positions from "../RH_robotInterface/src/pose_list.py". "pose_list.py" can be populated by using RHsavetfpoints.

At the moment, there exists three critical states that need to be defined in "pose_list.py":

  1. Picking up the calibration target from the table.
  2. Lifting the calibration target from the table.
  3. Changing pose of the calibration target.
  4. Returning the calibration target to the table.

These states are already defined in "pose_list.py". This node can be run using simulation nodes as described in Point cloud and 3D reconstruction.

2.1.2 Services Called

Services used are defined in SMACH python bindings.

Finds corners of the calibration target and stores them in memory

Calibrates each camera of the stereo rig and saves calibration parameters.

Captures images, processes them and controls PTUs for hand-eye calibration. Its functionality is the same as in RHcalibration while performing hand-eye calibration.