ROS nodes for calibration data measurement¶
All nodes are stored in package clopema_calibration on git branch "redcam".
roscd clopema_calibration git pull git checkout redcam
If you want to have collision model of redcam holder integrated, also package clopema_description have to by switch to redcam branch.
To integrate redcam into ros just type following command into terminal. All settings for redcam are stored in this launch file.
roslaunch clopema_calibration redcam_planner.launch
--data capture settings-- redcam/graph/folder - folder where graph (nodes.csv, edges.csv, path.csv) is created or expected depending on node which is running redcam/graph/num_steps - number of steps for each joint used to create graph (node redcam_create_graph) redcam/measurement/sparse - file where calibration data are stored (only one measurement per target position) redcam/measurement/dense - file where calibration data are stored (the positions during the whole experiment) --redcam collision settings-- redcam_base_frame - frame (defined in robot_description parameter) where redcam is connected with magnet redcam_ee_frame - frame where spherical joint is connected (frame must be defined in robot_description parameter) tf transformation /redcam_base_frame -> /redcam_base_link - relative transformation between base frame and redcam frame tf transformation /redcam_ee_frame -> /redcam_ee_link - relative transformation between end effector frame and redcam end effector frameProcess of calibration data capturing:
- Node: redcam_create_graph
This node create graph in folder defined by parameter 'redcam/graph/folder'.
The edges.csv and nodes.csv will be created. The created graph is also published as visualization markers to rviz.
- Matlab: generate path
Using matlab generate path in the graph clopema_calibration.
- Node: redcam_execute_path
Execute path created in previous step.
- Go to the start point defined in path (without mounted redcam).
- Connect redcam to the robot and press enter to start path execution.
- Wait until whole path is completed. The captured data for calibration will be stored in files defined by parameter 'redcam/measurement/*.csv'