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Sensor Calibration

  • 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).

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Camera hand–eye calibration and force–torque (F/T) sensor calibration utilities for ROS 2.

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