Hi Konrad,
One of the original goals when designing the pr2_calibration stack was to be able to support static cameras by simply using "null" kinematic chains whenever there aren't any joints. However, after briefly looking at the code, it looks like I'm assuming a non-null chain in several places.
I'm assuming you've looked at (http://www.ros.org/wiki/pr2_calibration_estimation)
As a workaround to create a static camera, I'd suggest defining a pseudo-null chain as follows:
fake_chain:
dh:
- [ 0, 0, 0, 0 ]
cov:
joint_angles: [1.0]
gearing: [1.0]
You can then construct a camera chain as follows:
camera_chains:
- camera_id: my_fixed_cam
sensor_id: my_fixed_cam
chain:
before_chain: [transform1, transform2]
chain_id: fake_chain
after_chain: []
dh_link_num: 0
Hi,
I would like to calibrate my robot setup.
My setup is simpler than pr2, contains 6dof manipulator and static cameras.
I want calibrate positions of cameras and offset of manipulator joints.
pr2_calibration mostly fit my needs, but pr2_calibration_estimation does not provide static camera sensor type. I think that it could be simply added, but i am not very familiar with Python and NumPy. Can you provide me some instruction how to add (modyfy camera chain) static camera sensor.
Pozdrawiam
Konrad Banachowicz
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