- Camera hand–eye calibration and force–torque (F/T) sensor calibration utilities for ROS 2.
- Provides both real‑time and offline calibration flows with simple GUIs.
Contents
sensor_calib/
Python package with calibration scripts.
Prerequisites
- Robotic arm to collect poses/configurations for the sensros.
Setup
- Source your ROS 2 workspace
. ~/ros2_ws/install/setup.bash
. - Ensure the robot is powered, enabled, and network‑reachable (ping the IP).
- Ensure the sensors are running.
F/T Sensor Calibration
- Launch your robot and sensors
- Start GUI helper (F/T):
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 gui_node_ft_calib.py
- Real‑time calibration:
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 ft_calib.py
- Offline calibration:
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 ft_calib_offline.py
Camera Hand–Eye Calibration
- Start GUI helper (hand–eye):
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 gui_node_hand_eye_calib.py
- Real‑time calibration:
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 hand_eye_calib.py
- Offline calibration:
cd ~/sup_tms/tmr_ws/src/sensor_calib/sensor_calib && python3 hand_eye_calib_offline.py
Using your own arm and sensors
- Make sure the sensor topic name and robot feedback/command API is properly initiated for your own hardwares.
Notes
- Always source the workspace in each new terminal before running scripts.
- For real‑time modes, keep MoveIt and robot connection running.
- Offline modes expect previously recorded data; follow each script’s prompts.
Troubleshooting
- Connection issues: verify
robot_ip
, network, and that the robot is in a ready state. - Missing Python deps: install in your active environment (e.g.,
pip install -r requirements.txt
if provided, otherwise install per error messages).