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No version for distro iron. Known supported distros are highlighted in the buttons above.
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No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.17 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-22 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The jsk_calibration package
Additional Links
No additional links.
Maintainers
- Ryohei Ueda
Authors
No additional authors.
jsk_calibration
This is a utility package for hand/eye calibration using ros-perception/calibration.
This package generates sampling poses automaticaly using euslisp robot models.
Each robot documentation
Calibrate robot
calibration process has two steps.
- capture data.
Move robot and capturing data into a bag file.
roslaunch capture_data.launch
- estimate parameters.
Estimate calibration parameter from the bag file.
./calibrate_${ROBOT}.sh
And you will have calibrated urdf file.
You can check progress of estimation parameters by rviz:
rosrun rviz rviz -d view_results/pose_guesses.rviz
- If calibration takes a lot of time, please use initial_pose.yaml.
Update your system.yaml by adding
initial_poses: /path/to/initial_pose.yaml.
Update sampling poses
- HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)
Algorithm
- Sampling several joint angles (for example, head joints).
- Sampling distance from camera to checker board.
- Sampling agnles around x, y and z axis of checker board.
- Solve ik toward target coordinates of checker board.
- Check self-collision.
- For all specified sampling joints and angles, compute collision-free poses by 1-5
- Choose good poses randomly and sparsely
- Check self-collision for interpolated poses
- Remove colliding poses
- Get collision-free and different poses
Utility scripts
joint_states_appender.py
ros calibration software is not designed to handle multiple joint states.
On the other hand, several robot has multiple joint states, it is that several nodes
publishes /joint_states.
In order to resolve this mismatch, joint_states_appender subscribes /joint_states
and append multiple joint states and publish it into /joint_states_appended.
Setting Files
- capture_data
capture_data/capture_data.launch
capture_data/capture_exec.launch // -> samples / harware_config / system.yaml
capture_data/all_viewers.launch // annoted_viewer
capture_data/all_pipelines.launch // launch calibration_launch
capture_data/settler.launch // limb_chain/... | settler_action
capture_data/interval.launch // limb_chain, xxx_camera
capture_data/samples/
initial_poses.yaml // guess poses of checkerboard
01_RARM/ // pose settings / use camera/settings, pose/using_chain
00_LARM/
capture_data/hardware_config/
chain_config.yaml // limb_chain
laser_config.yaml // not used
controller_config.yaml // ??? fullbody for jaxon/hrp2
cam_config.yaml // xxx_camera
- estimate_params
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh
estimate_params/config:
system.yaml // calibration system, board settings, chain settings, camera settings
free_cb_locations.yaml // 1. just estimate cb location
free_cameras.yaml // 2. cb location and camera pose
non_free_arms.yaml // 3. 2. with head-yaw offset ???
free_arms.yaml // 4. with joint offset except tip joints
free_torso.yaml // 5. not used
- view_results
view_results/ not so important, just for viewing results
CHANGELOG
Changelog for package jsk_calibration
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
- remove roseus from CMakeLists.txt (#773)
- [joint_states_appender.py]add queue_size (#734)
- 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
- Contributors: Kei Okada, Naoki Hiraoka
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
- CMakeLists.txt: remove pr2_* dependency, add install
- Contributors: Kei Okada
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
- fix checker board spacing parameters to be 0.03
- [jsk_calibration] Modify checkerboard spacing values and modify README
- fix hrp2w_calibration
- update for hrp2w_calibration
- add readme comment
- change multisense -> xtion (or carmine)
- delete file before rename
- [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
- add files for hrp2w
- [jsk_control/jsk_calibration] Fix typo.
- Contributors: Kohei Kimura, Yohei Kakiuchi
0.1.9 (2016-03-23)
- [jsk_calibration] Update camera config parameter for JAXON
Modified:
- jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
- [jsk_calibration] Add forgotten config file for rviz viewer
- [jsk_calibration] add utilitiy for jaxon_calibration
- [jsk_calibration][JAXON_RED] update poses for calibration
- [jsk_calibration] Add calibration viewer for manual calibration
- {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
- Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
- [jsk_calibration] Fix typo in README
- Contributors: Ryohei Ueda
0.1.6 (2015-06-11)
- rename url
- [JAXON] add jaxon_calibration
- [JAXON] add motion generation method for jaxon camera calibration
- [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
- [jsk_calibration] Update HRP2JSKNT calibration for multisense
- [jsk_calibration] Update README.md
- [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
- [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
- [jsk_calibration] Fix documentation to show image
- [jsk_calibration] update documentation
- [jsk_calibration] Add launch files for hrp2jsknts calibration
- [jsk_calibration] Add hrp2jsknts to hrp2-calibration
- [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
- Updated to generate motion for hrp2w
- use least rpy angle for compatibility?
- add initial_poses.yaml for staro, and some update for staro calib
- [jsk_calibration] udpate parameters for staro
- fix board parmeter
- update poses for staro
- update generate-staro-files
- fix camera joint name
- update camera name
- [jsk_calibration] Fix robust-motion bug and not use it as default
- [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
- [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
- [jsk_calibration] Write initial_poses.yaml to speed up optimization
- update
- [jsk_calibration] Fix typoe of the files
- add estimate params
- fix chain length
- add staro_calibration
0.1.5 (2015-01-08)
- Add utility script to test a lot of calibration parameters
- Reduce sampling poses to 30
- Sampling pose with configuration space and update sampling space of leg poses
- Add legs to calibrate hrp2jsknt
- Self Collisoin with small changes on joint angles to get stable position
- Add calibration document
- Select different poses with probability computation
- Select good calibration sample from a lot of mother samples
- Use dual arm to calibrate HRP2JSKNT
- Filtering not good poses for calibration
- Do not use gripper joint on HRP2JSKNT
- Add rviz config to see pose_guesses marker
- rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
- Remove unused file
- Update calibration for hrp2jsknt
- Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
- Generate motion with more strict collision check and add test method on real robot
- Update parameters for hrp2jsknt
- Add special reset-pose for leg calibration
- Remove unused files
- Add hrp2jsknt_calibration directory just copied from hironx_calibration
- Add board to collision check and refine motion with interpolated angle vectors
- Add method to check collision of interpolated motions
- Add more depends
- add legs motion
- Implement hrp2 motion generation
- Depends on pr2_msgs and pr2_controllers_msgs
- Add jsk_calibration package for hand-eye calibration
- Contributors: Ryohei Ueda
0.1.4 (2014-10-21)
0.1.3 (2014-10-10)
0.1.2 (2014-09-08)
0.1.1 (2014-09-04)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roseus | |
| pr2_msgs | |
| pr2_controllers_msgs | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| jsk_control |
Launch files
- launch/manual_calibration_viewer.launch
-
- fixed_frame_id [default: lleg_end_coords]
- stereo_input [default: /multisense_local/organized_image_points2_color]
- laser_input [default: /full_cloud2]
- hrp2w_calibration/capture_data/all_viewers.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/settler.launch
- hrp2w_calibration/capture_data/capture_exec.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/interval.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/all_pipelines.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/capture_data.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/estimate_params/hrp2w_estimation_config.launch
- jaxon_calibration/capture_data/all_viewers.launch
- jaxon_calibration/capture_data/settler.launch
- jaxon_calibration/capture_data/capture_exec.launch
- jaxon_calibration/capture_data/interval.launch
- jaxon_calibration/capture_data/all_pipelines.launch
-
- use_kinect [default: false]
- jaxon_calibration/capture_data/capture_data.launch
- jaxon_calibration/estimate_params/jaxon_estimation_config.launch
- hrp2jsknts_calibration/capture_data/all_viewers.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/settler.launch
- hrp2jsknts_calibration/capture_data/capture_exec.launch
-
- camera_ns [default: /camera_remote/rgb]
- hrp2jsknts_calibration/capture_data/interval.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/all_pipelines.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/capture_data.launch
-
- camera_ns [default: /camera_remote/rgb]
- hrp2jsknts_calibration/estimate_params/hrp2jsknts_estimation_config.launch
- hrp2jsknt_calibration/capture_data/all_viewers.launch
- hrp2jsknt_calibration/capture_data/settler.launch
- hrp2jsknt_calibration/capture_data/capture_exec.launch
- hrp2jsknt_calibration/capture_data/interval.launch
- hrp2jsknt_calibration/capture_data/all_pipelines.launch
- hrp2jsknt_calibration/capture_data/capture_data.launch
- hrp2jsknt_calibration/estimate_params/hrp2jsknt_estimation_config.launch
- staro_calibration/capture_data/all_viewers.launch
- staro_calibration/capture_data/settler.launch
- staro_calibration/capture_data/capture_exec.launch
- staro_calibration/capture_data/interval.launch
- staro_calibration/capture_data/all_pipelines.launch
-
- use_kinect [default: false]
- staro_calibration/capture_data/capture_data.launch
- staro_calibration/estimate_params/staro_estimation_config.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged jsk_calibration at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.17 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-22 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The jsk_calibration package
Additional Links
No additional links.
Maintainers
- Ryohei Ueda
Authors
No additional authors.
jsk_calibration
This is a utility package for hand/eye calibration using ros-perception/calibration.
This package generates sampling poses automaticaly using euslisp robot models.
Each robot documentation
Calibrate robot
calibration process has two steps.
- capture data.
Move robot and capturing data into a bag file.
roslaunch capture_data.launch
- estimate parameters.
Estimate calibration parameter from the bag file.
./calibrate_${ROBOT}.sh
And you will have calibrated urdf file.
You can check progress of estimation parameters by rviz:
rosrun rviz rviz -d view_results/pose_guesses.rviz
- If calibration takes a lot of time, please use initial_pose.yaml.
Update your system.yaml by adding
initial_poses: /path/to/initial_pose.yaml.
Update sampling poses
- HRP2JSKNT
roseus euslis/hrp2-calibration.l
$ (generate-hrp2jsknt-calibration)
Algorithm
- Sampling several joint angles (for example, head joints).
- Sampling distance from camera to checker board.
- Sampling agnles around x, y and z axis of checker board.
- Solve ik toward target coordinates of checker board.
- Check self-collision.
- For all specified sampling joints and angles, compute collision-free poses by 1-5
- Choose good poses randomly and sparsely
- Check self-collision for interpolated poses
- Remove colliding poses
- Get collision-free and different poses
Utility scripts
joint_states_appender.py
ros calibration software is not designed to handle multiple joint states.
On the other hand, several robot has multiple joint states, it is that several nodes
publishes /joint_states.
In order to resolve this mismatch, joint_states_appender subscribes /joint_states
and append multiple joint states and publish it into /joint_states_appended.
Setting Files
- capture_data
capture_data/capture_data.launch
capture_data/capture_exec.launch // -> samples / harware_config / system.yaml
capture_data/all_viewers.launch // annoted_viewer
capture_data/all_pipelines.launch // launch calibration_launch
capture_data/settler.launch // limb_chain/... | settler_action
capture_data/interval.launch // limb_chain, xxx_camera
capture_data/samples/
initial_poses.yaml // guess poses of checkerboard
01_RARM/ // pose settings / use camera/settings, pose/using_chain
00_LARM/
capture_data/hardware_config/
chain_config.yaml // limb_chain
laser_config.yaml // not used
controller_config.yaml // ??? fullbody for jaxon/hrp2
cam_config.yaml // xxx_camera
- estimate_params
estimate_params/jaxon_estimation_config.launch // hierarchical calibration -> system.yaml
estimate_params/calibrate_jaxon.sh
estimate_params/config:
system.yaml // calibration system, board settings, chain settings, camera settings
free_cb_locations.yaml // 1. just estimate cb location
free_cameras.yaml // 2. cb location and camera pose
non_free_arms.yaml // 3. 2. with head-yaw offset ???
free_arms.yaml // 4. with joint offset except tip joints
free_torso.yaml // 5. not used
- view_results
view_results/ not so important, just for viewing results
CHANGELOG
Changelog for package jsk_calibration
0.1.17 (2023-05-28)
0.1.16 (2022-10-27)
- remove roseus from CMakeLists.txt (#773)
- [joint_states_appender.py]add queue_size (#734)
- 0755 -> -h0o0755 : SyntaxError: leading zeros in decimal integer literals are not permitted; use an 0o prefix for octal integers, 2to3 -w -fprint . (#763)
- Contributors: Kei Okada, Naoki Hiraoka
0.1.15 (2018-05-16)
0.1.14 (2018-01-15)
0.1.13 (2017-04-18)
0.1.12 (2017-02-22)
- CMakeLists.txt: remove pr2_* dependency, add install
- Contributors: Kei Okada
0.1.11 (2017-02-09)
0.1.10 (2016-12-15)
- fix checker board spacing parameters to be 0.03
- [jsk_calibration] Modify checkerboard spacing values and modify README
- fix hrp2w_calibration
- update for hrp2w_calibration
- add readme comment
- change multisense -> xtion (or carmine)
- delete file before rename
- [jsk_calibration] Rename manual_calibration_viewer launch and fix colorize_points topic name
- add files for hrp2w
- [jsk_control/jsk_calibration] Fix typo.
- Contributors: Kohei Kimura, Yohei Kakiuchi
0.1.9 (2016-03-23)
- [jsk_calibration] Update camera config parameter for JAXON
Modified:
- jsk_calibration/jaxon_calibration/capture_data/hardware_config/cam_config.yaml
- [jsk_calibration] Add forgotten config file for rviz viewer
- [jsk_calibration] add utilitiy for jaxon_calibration
- [jsk_calibration][JAXON_RED] update poses for calibration
- [jsk_calibration] Add calibration viewer for manual calibration
- {jsk_calibration, jsk_footstep_planner}/README.md: fix section/subsection
- Contributors: Kei Okada, Ryohei Ueda, Yohei Kakiuchi, Iori Kumagai
0.1.8 (2015-11-02)
0.1.7 (2015-11-01)
- [jsk_calibration] Fix typo in README
- Contributors: Ryohei Ueda
0.1.6 (2015-06-11)
- rename url
- [JAXON] add jaxon_calibration
- [JAXON] add motion generation method for jaxon camera calibration
- [jsk_calibration] Fix effort and velocity for joint_states which does not have effort and velocity in joint_states_appender.py
- [jsk_calibration] Update HRP2JSKNT calibration for multisense
- [jsk_calibration] Update README.md
- [jsk_calibration] append velocity and effort as well as name and position in joint_states_appender.py
- [jsk_calibration] Fix remapping of joint_states for HRP2JSKNTS
- [jsk_calibration] Fix documentation to show image
- [jsk_calibration] update documentation
- [jsk_calibration] Add launch files for hrp2jsknts calibration
- [jsk_calibration] Add hrp2jsknts to hrp2-calibration
- [jsk_calibration] Add joint_states_appender.py to handle multiple joint_states in calibration time.
- Updated to generate motion for hrp2w
- use least rpy angle for compatibility?
- add initial_poses.yaml for staro, and some update for staro calib
- [jsk_calibration] udpate parameters for staro
- fix board parmeter
- update poses for staro
- update generate-staro-files
- fix camera joint name
- update camera name
- [jsk_calibration] Fix robust-motion bug and not use it as default
- [jsk_calibration] Do not check collision if IK failed and fix unit of initial_poses.yaml
- [jsk_calibration] Fix :write-initial-pose-yaml by Yohei's patch.
- [jsk_calibration] Write initial_poses.yaml to speed up optimization
- update
- [jsk_calibration] Fix typoe of the files
- add estimate params
- fix chain length
- add staro_calibration
0.1.5 (2015-01-08)
- Add utility script to test a lot of calibration parameters
- Reduce sampling poses to 30
- Sampling pose with configuration space and update sampling space of leg poses
- Add legs to calibrate hrp2jsknt
- Self Collisoin with small changes on joint angles to get stable position
- Add calibration document
- Select different poses with probability computation
- Select good calibration sample from a lot of mother samples
- Use dual arm to calibrate HRP2JSKNT
- Filtering not good poses for calibration
- Do not use gripper joint on HRP2JSKNT
- Add rviz config to see pose_guesses marker
- rename make-calibration-pose.l -> calibration.l and separate hrp2 specific setting to hrp2-calibration.l
- Remove unused file
- Update calibration for hrp2jsknt
- Add motion files for hrp2jsknt and implement several methods to generate yamls and launches
- Generate motion with more strict collision check and add test method on real robot
- Update parameters for hrp2jsknt
- Add special reset-pose for leg calibration
- Remove unused files
- Add hrp2jsknt_calibration directory just copied from hironx_calibration
- Add board to collision check and refine motion with interpolated angle vectors
- Add method to check collision of interpolated motions
- Add more depends
- add legs motion
- Implement hrp2 motion generation
- Depends on pr2_msgs and pr2_controllers_msgs
- Add jsk_calibration package for hand-eye calibration
- Contributors: Ryohei Ueda
0.1.4 (2014-10-21)
0.1.3 (2014-10-10)
0.1.2 (2014-09-08)
0.1.1 (2014-09-04)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roseus | |
| pr2_msgs | |
| pr2_controllers_msgs | |
| catkin |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| jsk_control |
Launch files
- launch/manual_calibration_viewer.launch
-
- fixed_frame_id [default: lleg_end_coords]
- stereo_input [default: /multisense_local/organized_image_points2_color]
- laser_input [default: /full_cloud2]
- hrp2w_calibration/capture_data/all_viewers.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/settler.launch
- hrp2w_calibration/capture_data/capture_exec.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/interval.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/all_pipelines.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/capture_data/capture_data.launch
-
- camera_ns [default: /multisense/left]
- hrp2w_calibration/estimate_params/hrp2w_estimation_config.launch
- jaxon_calibration/capture_data/all_viewers.launch
- jaxon_calibration/capture_data/settler.launch
- jaxon_calibration/capture_data/capture_exec.launch
- jaxon_calibration/capture_data/interval.launch
- jaxon_calibration/capture_data/all_pipelines.launch
-
- use_kinect [default: false]
- jaxon_calibration/capture_data/capture_data.launch
- jaxon_calibration/estimate_params/jaxon_estimation_config.launch
- hrp2jsknts_calibration/capture_data/all_viewers.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/settler.launch
- hrp2jsknts_calibration/capture_data/capture_exec.launch
-
- camera_ns [default: /camera_remote/rgb]
- hrp2jsknts_calibration/capture_data/interval.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/all_pipelines.launch
-
- camera_ns [default: /multisense/left]
- hrp2jsknts_calibration/capture_data/capture_data.launch
-
- camera_ns [default: /camera_remote/rgb]
- hrp2jsknts_calibration/estimate_params/hrp2jsknts_estimation_config.launch
- hrp2jsknt_calibration/capture_data/all_viewers.launch
- hrp2jsknt_calibration/capture_data/settler.launch
- hrp2jsknt_calibration/capture_data/capture_exec.launch
- hrp2jsknt_calibration/capture_data/interval.launch
- hrp2jsknt_calibration/capture_data/all_pipelines.launch
- hrp2jsknt_calibration/capture_data/capture_data.launch
- hrp2jsknt_calibration/estimate_params/hrp2jsknt_estimation_config.launch
- staro_calibration/capture_data/all_viewers.launch
- staro_calibration/capture_data/settler.launch
- staro_calibration/capture_data/capture_exec.launch
- staro_calibration/capture_data/interval.launch
- staro_calibration/capture_data/all_pipelines.launch
-
- use_kinect [default: false]
- staro_calibration/capture_data/capture_data.launch
- staro_calibration/estimate_params/staro_estimation_config.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.