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turtlebot_arm: turtlebot_arm_block_manipulation | turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_ikfast_plugin | turtlebot_arm_kinect_calibration | turtlebot_arm_moveit_config | turtlebot_arm_moveit_demos

Package Summary

turtlebot_arm_kinect_calibration allows calibration of a kinect to a TurtleBot arm, including a kinect on-board and off-board the TurtleBot for more precise manipulation.

turtlebot_arm: turtlebot_arm_block_manipulation | turtlebot_arm_bringup | turtlebot_arm_description | turtlebot_arm_ikfast_plugin | turtlebot_arm_kinect_calibration | turtlebot_arm_moveit_config | turtlebot_arm_moveit_demos | turtlebot_arm_object_manipulation

Package Summary

turtlebot_arm_kinect_calibration allows calibration of a kinect to a TurtleBot arm, including a kinect on-board and off-board the TurtleBot for more precise manipulation.

Documentation

Refer to the Tutorial for instructions on how to calibrate a Kinect to the turtlebot_arm. <!> The tutorial is for the fuerte version of this package, so be careful and flexible when following it!. Trust this page (already updated for indigo) in case of contradiction.

Video

Files

calibrate.launch

Nodes

calibrate_kinect_checkerboard

Detects a checkerboard in an image, and then waits for the user to move the arm to specified points on the checkerboard to determine the transform between the kinect and the robot

Subscribed Topics

/camera/rgb/image_mono (sensor_msgs/image) /camera/rgb/camera_info (sensor_msgs/CameraInfo)

Published Topics

~calibration_pattern_out (sensor_msgs/Image) ~detector_cloud (sensor_msgs/PointCloud2) ~physical_points (sensor_msgs/PointCloud2)

Parameters

~fixed_frame (string, default: /base_link) ~camera_frame (string, default: /camera_link) ~target_frame (string, default: /calibration_pattern) ~tip_frame (string, default: /gripper_link) ~checkerboard_width (int, default: 6) ~checkerboard_height (int, default: 7) ~checkerboard_grid (double, default: 0.027) ~gripper_tip_x (double, default: -0.002) ~gripper_tip_y (double, default: -0.020) ~gripper_tip_z (double, default: -0.0185)

Required tf Transforms

<fixed_frame><tip_frame>

Provided tf Transforms

<camera_frame><target_frame>


2019-12-07 13:13