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| industrial_calibration | ||
| ====================== | ||
| # Industrial Calibration | ||
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| :warning: EXPERIMENTAL MELODIC-DEVEL branch :warning: | ||
| === | ||
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| Contains libraries/algorithms for calibration industrial systems. | ||
| ## Description | ||
| A set of tools for performing calibration between cameras and robots and analyzing the accuracy of the calibration | ||
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| extrinsic_cal calibration nodes: | ||
| service_node -- peforms quiet a number of calbirations using very complex yaml files | ||
| range_excal -- performs extrinsic calibration of a 3D camera by finding the target points in the image and the xyz values from the depth image. | ||
| wrist_cal_srv -- performs extrinsic calibration when either the target or the camera is mounted on the end of arm tooling | ||
| stereo_cal_srv -- performs stereo extrinsic cal using a robot (target or pair mounted on end of arm tooling) | ||
| ## Build | ||
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| extrinsic_cal helper nodes: | ||
| camera_observer_scene_trigger -- provides a trigger for a scene when the camera can locate a target | ||
| manual_calt_adjust -- Allows using the keyboard to adjust a mutable transform. typing x or X increases or decreases translation in x etc | ||
| mutable_joint_state_publisher -- Publishes the joint states for all joints defined in the input yaml file, allows update and save. | ||
| ros_robot_trigger_action_service -- Service which triggers a scene by moving a robot (using Moveit!) to a new pose | ||
| TO COMPILE THIS NODE use >> catkin build --cmake-args -DUSE_MOVEIT="True" | ||
| Moveit! must also be installed because this node uses moveit! to move the robot to a new pose before the pictures are taken | ||
| trigger_serice -- A very simple example of a scene trigger. Set a parameter to trigger a scene | ||
| target_display_node -- publishes a marker array that looks like a modified circle grid target (no stl required) | ||
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| intrinsic_cal calibration nodes: | ||
| ical_srv -- intrinsic calibration using basic services | ||
| rail_cal -- dedicated rail calibration | ||
| robocyl_ical -- intrinsic calibraton on the robocylinder | ||
| robocyl_vcal -- verifies the intrinsic calibration results using robocylinder | ||
| robocyl_scal -- uses robocylinder to perform stereo calibration | ||
| robocyl_ical_8d -- an improved version of ical_srv and robocyl_ical included determination of axis of motion for rail. Target on rail only!! | ||
| robot_ical -- intrinsic calibration on a robot. This is very useful if you don't want to take the camera off the robot, but not as accurate. | ||
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| caljob_creator nodes: | ||
| caljob_creator -- writes a yaml file using the current joint values to create a scene ( only use if you are trying to use extrinsic_cal/service_node | ||
| joint_traj_node -- A node that maintains a list of robot poses that works in conjuction with the basic calibration service interface to orchestrate calibrations | ||
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| rgbd_depth_correction nodes: | ||
| depth_calibration -- calibrates a 3D camera using a rail (usually a manual rail because it has to be fairly long) | ||
| depth_correctonNodelet -- a nodelet that subscribes to a cloud and corrects the depth using the calibration found by the depth_calibration node | ||
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| stand_alone_gui nodes: | ||
| ical_gui -- as stand alone gui that makes using the basic calibration service easy | ||
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| target_finder nodes: | ||
| target_locator_srv -- finds the target in a camera image and computes the target to camera transform | ||
| stereo_locator_srv -- finds the target in a stereo pair and computes the target to left camera transform | ||
| target_gen -- generates a target yaml file (NO LONGER NEEDED) | ||
| call_service -- continuously calls the target locator service and publishes the transform results | ||
| dual_call_service -- continuously calls the target locator service for two different cameras and publishes the transform results for each | ||
| stereo_pose_stats -- calls the stereo_locator_srv 30 times and computes statistics on the results | ||
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| calibration_guis: what is it? | ||
| This package creates two plugin panels for rviz. The first is an interface to the joint_traj node in caljob creator. The second is an interface to the standard calibration call service. | ||
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| The best place to start in using this set of packages is with one of the basic call service calibration routines. Each of these routines advertises the following services: | ||
| 1. Start -- resets all data | ||
| 2. Obs -- collects an observation | ||
| 3. Run -- runs the optimization | ||
| 4. Save -- save the results, For intrinsic calibration it pushes to camera_info_manager. For extrinsic, it pushes to the mutable joint state publisher. | ||
| 5. Import -- imports the data saved from a previous calibration. | ||
| 6. Cov -- computes and prints the covariance matrix | ||
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| The following are basic service call calibration nodes: | ||
| wrist_cal_srv -- performs extrinsic calibration when either the target or the camera is mounted on the end of arm tooling | ||
| stereo_cal_srv -- performs stereo extrinsic cal using a robot (target or pair mounted on end of arm tooling) | ||
| ical_srv -- intrinsic calibration using basic services (depricated) | ||
| robocyl_ical_8d -- an improved version of ical_srv and robocyl_ical included determination of axis of motion for rail. Target on rail only!! | ||
| robot_ical -- intrinsic calibration on a robot. This is very useful if you don't want to take the camera off the robot, but not as accurate. | ||
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| ## ROS Distro Support | ||
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| | | Indigo | Jade | Kinetic | | ||
| |:-------:|:------:|:----:|:-------:| | ||
| | Branch | [`indigo-devel`](https://github.com/ros-industrial/industrial_calibration/tree/indigo-devel) | [`indigo-devel`](https://github.com/ros-industrial/industrial_calibration/tree/indigo-devel) | [`kinetic-devel`](https://github.com/ros-industrial/industrial_calibration/tree/kinetic-devel) | | ||
| | Status | supported | supported | supported | | ||
| | Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=industrial_calibration) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=industrial_calibration) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=industrial_calibration) | | ||
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| ## Travis - Continuous Integration | ||
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| Status: [](https://travis-ci.org/ros-industrial/industrial_calibration) | ||
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| ## ROS Buildfarm | ||
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| | | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | | ||
| |:-------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:| | ||
| | industrial_calibration | [](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__industrial_calibration__ubuntu_trusty__source/) | [](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__industrial_calibration__ubuntu_trusty_amd64__binary/) | [](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__industrial_calibration__ubuntu_trusty__source/) | [](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__industrial_calibration__ubuntu_trusty_amd64__binary/) | [](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__industrial_calibration__ubuntu_xenial__source/) | [](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__industrial_calibration__ubuntu_xenial_amd64__binary/) | | ||
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| Contains libraries/algorithms for calibration industrial systems | ||
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| ## Requires | ||
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| ### Ceres Optimizer | ||
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| - With apt: `sudo apt install libceres-dev` | ||
| - With [rosdep](http://docs.ros.org/independent/api/rosdep/html/): | ||
| `rosdep install industrial_extrinsic_cal` or | ||
| `rosdep install --from-paths industrial_calibration/` | ||
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| ### Openni2 | ||
| ``` | ||
| sudo apt-get install ros-kinetic-openni2-camera | ||
| sudo apt-get install ros-kinetic-openni2-launch | ||
| ``` | ||
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| ### Moveit | ||
| `sudo apt-get install ros-kinetic-moveit` | ||
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| # Examples | ||
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| ## Single Basler on a rail | ||
| ``` | ||
| roslaunch robocyl_ical.launch | ||
| roslaunch robo_cylinder.launch | ||
| rosservice call /RobocylCalService "allowable_cost_per_observation: 0.25" | ||
| ``` | ||
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| # Build | ||
| ``` | ||
| mkdir -p cal_ws/src | ||
| cd cal_ws/src | ||
| git clone -b kinetic-devel https://github.com/ros-industrial/industrial_calibration.git | ||
| cd .. | ||
| catkin build | ||
| ```commandLine | ||
| cd <workspace> | ||
| vcs import src < src/industrial_calibration/dependencies.repos | ||
| rosdep install --from-paths src -iry | ||
| colcon build | ||
| ``` |
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