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Simplified calibration interface

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When showing this to collegues it turned out that this was quite complicated.
I reduced the target definition to a simple filename, while documenting
the package approach separately.
This commit is contained in:
Felix Mauch
2019-10-07 10:42:54 +02:00
committed by Tristan Schnell
parent 344052d4c7
commit 5138ecab82
4 changed files with 72 additions and 97 deletions
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README.md
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@@ -125,42 +125,19 @@ Each UR robot is calibrated inside the factory giving exact forward and inverse
make use of this in ROS, you first have to extract the calibration information from the robot.
Though this step is not necessary, to control the robot using this driver, it is highly recommended
to do so, as endeffector positions might be off in the magnitude of centimeters.
to do so, as otherwise endeffector positions might be off in the magnitude of centimeters.
For this, there exists a helper script:
$ roslaunch ur_calibration calibration_correction.launch \
robot_ip:=<robot_ip> \
robot_name:=<robot_name> \
output_package_name:=ur_calibration \
subfolder_name:=etc
robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"
For the parameter `robot_ip` insert the IP address on which the ROS pc can reach the robot. As
`target_filename` provide an absolute path where the result will be saved to.
As soon as you see the output:
[ INFO] [1560953586.352160902]: Calibration correction done
you can exit the roslaunch by bressing `CTRL+C`.
For the parameter **<robot_ip>** insert the ip on which the ROS pc can reach the robot. The
**<robot_name>** is an arbitrary name you can give to the robot. It is recommended, to choose a unique
name that can be easily matched to the physical robot.
The resulting yaml file is stored in the package specified in the **output_package_name** parameter
inside the folder **subfolder_name** with the name **robot_name***_calibration.yaml*. The parameter
**subfolder_name** is optional and defaults to *etc* if not given.
In the example above, we use the **ur_calibration** package from this repository. This won't work,
if you use a binary installation of this driver. In that case please create a new ROS package (before performing the calibration) by
going to your catkin_workspace's src folder and calling:
catkin_create_pkg my_calibrations
For further information on the calibration extraction, please see the [documentation of package
`ur_calibration`](ur_calibration/README.md).
We recommend keeping calibrations for all robots in your organization in a common package. See the
[package's documentation](ur_calibration/README.md) for details.
#### Quick start
Once the driver is built and the **externalcontrol** URCap is installed on the robot, you are good