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Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/osrf/nexus.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-21 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A package with ROS 2 nodes for calibration workcell components
Additional Links
No additional links.
Maintainers
- Yadunund
Authors
No additional authors.
nexus_calibration
This package provides a ROS 2 Lifecyle node, nexus_calibration_node, that connects to a VRPN server and builds a cache of rigid body poses in a local TF2 buffer.
These rigid bodies could represent calibration links (or reference links) on components within a workcell.
The poses of these links can then be queried via a ROS 2 service call over the nexus::endpoints::ExtrinsicCalibrationService endpoint.
Test
cd nexus_calibration/
ros2 launch test/nexus_calibration.launch.py
``
Then to retrieve poses of components wrt to the `robot_calibration_link`, ie a reference frame on the robot's `base_link`,
```bash
ros2 service call /workcell_1/calibrate_extrinsics nexus_calibration_msgs/src/CalibrateExtrinsics '{frame_id: robot_calibration_link}'
CHANGELOG
Changelog for package nexus_calibration
0.1.1 (2023-11-22)
0.1.0 (2023-11-06)
- Provides
nexus_calibration_nodewhich can be queried for poses of calibration links within a workcell.
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 |
|---|---|
| ament_cmake | |
| nexus_gazebo | |
| nexus_endpoints | |
| rclcpp | |
| rclcpp_components | |
| rclcpp_lifecycle | |
| tf2 | |
| vrpn |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged nexus_calibration at Robotics Stack Exchange
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