ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ubr1_calibration at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
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Messages
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Services
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Plugins
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ubr1_calibration package from ubr_reloaded repoubr1_bringup ubr1_calibration ubr1_demo ubr1_description ubr1_gazebo ubr1_moveit ubr1_navigation ubr_msgs ubr_teleop |
ROS Distro
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Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | Apache2 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Updated packages for the UBR-1 |
| Checkout URI | https://github.com/mikeferguson/ubr_reloaded.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2024-12-15 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | robotics ros ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Launch and configuration files for calibrating UBR-1 using the 'robot_calibration' package.
Additional Links
No additional links.
Maintainers
- Michael Ferguson
Authors
- Michael Ferguson
UBR-1 Calibration
This is used to calibrate the UBR-1 robot. You probably aren’t looking
to do that since you probably don’t have a UBR-1 - but you might be
here to see an example of how to use robot_calibration in ROS 2.
There are several config files of interest here:
-
config/capture.yaml- The capture step configuration. -
config/calibrate.yaml- The calibrate step configuration. -
config/calibration_poses.yaml- The capture poses to use. These have been manually tweaked to be collision free when directly interpolating between adjacent poses - so that we don’t have to rely on MoveIt to run planning. The first pose uses a ground plane finder to align the head camera to the ground, and then every other pose uses the LED finder.
There are several entry points:
-
launch/calibrate.launch.py- Launch file that I use 99% of the time to calibrate the robot. -
launch/calibrate_base.launch.py- Launch file for calibrating base track width, base rollout, and IMU gain. -
scripts/calibrate_from_bag- If the launch file has already been run, and I have a bagfile, but want to tweak some aspect of the calibration step, this is how to run it. -
scripts/manual_calibration- This runs robot calibration in manual mode, where you have to move the robot arm and head yourself. I find this is generally only useful for developing new feature finders. This is NOT a launch file, since launch would eat our input data and we would not be able to hit enter…
An additional aspect of the calibration of the UBR-1 is that the LED detection
works much better if auto exposure and white balance for the Primesense camera
are turned off. This is done by running the scripts/camera_reconfigure.py
script, which calls the SetParameter service to disable these features.
There are additional files that are really maybe not great examples:
-
config/checkerboard_2d- this directy contains alternate capture and calibration configurations for using theCheckerboard2dfinder. It performs suboptimally to the 3d version for a Primesense style camera that is already aligned. This particular configuration doesn’t actually calibrate the robot, instead it simply finds the checkerboard transform to validate the pipeline.
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| robot_calibration |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.