easy_handeye: TF / VISP Hand-Eye Calibration

• launch/publish.launch
  • • eye_on_hand — eye-on-hand instead of eye-on-base
    • namespace_prefix [default: easy_handeye]
    • robot_effector_frame [default: ]
    • robot_base_frame [default: ]
    • tracking_base_frame [default: ]
    • inverse [default: false]
• launch/ur5_d435i_calibration.launch
  • • namespace_prefix [default: ur5_realsense_handeyecalibration]
    • robot_ip — The IP address of the UR5 robot
    • marker_size [default: 0.1] — Size of the ArUco marker used, in meters
    • marker_id [default: 800] — The ID of the ArUco marker used
• launch/eye_to_hand_calibration.launch
  • • namespace_prefix [default: ur5_realsense_handeyecalibration]
    • robot_ip — The IP address of the UR5 robot
    • marker_size [default: 0.1] — Size of the ArUco marker used, in meters
    • marker_id [default: 400] — The ID of the ArUco marker used
• launch/calibrate.launch
  • • eye_on_hand — if true, eye-on-hand instead of eye-on-base
    • namespace_prefix [default: easy_handeye] — the prefix of the namespace the node will run in, and of the folder in which the result will be saved
    • robot_base_frame [default: base_link]
    • robot_effector_frame [default: tool0]
    • tracking_base_frame [default: tracking_origin]
    • tracking_marker_frame [default: tracking_target]
    • publish_dummy [default: true] — if true, a dummy calibration will be published to keep all frames in a single tf tree, hence visualized in RViz
    • start_rviz [default: true] — if true, rviz will be started with the provided config file
    • rviz_config_file [default: $(find easy_handeye)/launch/rviz_easy_handeye.config] — the path to the rviz config file to be opened
    • start_rqt [default: true] — if true, rqt will be started with the provided perspective
    • rqt_perspective_file [default: $(find easy_handeye)/launch/rqt_easy_handeye.perspective] — the path to the rqt perspective file to be opened
    • freehand_robot_movement [default: false] — if false, the rqt plugin for the automatic robot motion with MoveIt! will be started
    • move_group [default: manipulator] — the name of move_group for the automatic robot motion with MoveIt!
    • translation_delta_meters [default: 0.1] — the maximum movement that the robot should perform in the translation phase
    • rotation_delta_degrees [default: 25] — the maximum rotation that the robot should perform
    • robot_velocity_scaling [default: 0.3] — the maximum speed the robot should reach, as a factor of the speed declared in the joint_limits.yaml
    • robot_acceleration_scaling [default: 0.2] — the maximum acceleration the robot should reach, as a factor of the acceleration declared in the joint_limits.yaml

• msg/HandeyeCalibration.msg
• msg/SampleList.msg

• srv/RemoveSample.srv
• srv/ComputeCalibration.srv
• srv/TakeSample.srv

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