Using MoveIt Calibration#

To use MoveIt Calibration, to perform the hand-eye calibration, follow the steps below.

Robot Settings#

Set the ethernet IP address to static IP in the same IP range the robot has been set to (You can save this configuration as a profile and later choose this profie for easier access).
Unlock the robot and activate FCI.

Check the Python NumPy version. Should use 1.19, if the NumPy version is not 1.19 then install it using:
```
python -m pip install numpy==1.19
```

To run MoveIt for the robot:

source $FRANKA_WS/devel/setup.zsh
roslaunch panda_moveit_config franka_control.launch robot_ip:=10.42.0.3 

Run the RealSense camera launch command, and visualize the images in RViz:

roslaunch realsense2_camera rs_camera.launch color_width:=1280 color_height:=720 color_fps:=30

In RViz, add the By display type > moveit_calibration_gui > HandEyeCalibration.
In the HandEyeCalibration, set the target parameters:
- count the number of markers in a grid in X by Y (e.g., 2 x 2);
- measure each marker size and the separation distance between each marker and set it in meters.
Click on Create Target and print it out.
Choose the image topic and camera info topic where the image data is being published under Target Pose Detection.
- image topic: /camera/color_image/raw;
- camera info topic: /camera/color/camera_info;
Under the Context tab, set the Sensor Configuration as the appropriate configuration you are performing.
Select the correct frames of the sensor, object, end-effector and robot base frame.
- Sensor frame: camera_color_optical_frame;
- Object frame: handeye_target;
- End-effector frame: panda_hand;
- Robot base frame: panda_link0;
Set the robot to “Programming Mode” to enable moving the robot manually.
In RViz, add By topic > /handEye_calibration > /target_detection > Image > raw.

Take around 15 samples of different configurations under the Calibrate tab in the HandEyeCalibration and click on Take Sample for each configuration after manually moving the robot.
Leaving the solver name same, click on Save the camera pose option. This will create a launch file of all the TFs of the obtained transformations.

Run the generated launch file. Then, In RViz, Add TF under Add by Display and check if the obtained transformations are correct.