Only released in EOL distros:
Package Summary
Tools for pushing a new calibration into the URDF and wge100 cameras. This package is still experimental. Expect usage and APIs to change.
- Author: Vijay Pradeep
- License: BSD
- Repository: wg-ros-pkg
- Source: hg https://kforge.ros.org/calibration/pr2_calibration
Package Summary
Tools for pushing a new calibration into the URDF and wge100 cameras. This package is still experimental. Expect usage and APIs to change.
- Author: Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/calibration/pr2_calibration (branch: electric_trunk)
Stability
This package is still unstable, and does not have a released API.
Scripts
These scripts below have not been released and are still unstable, but we we're still documenting them since they're being used as a part of calibrating the PR2.
propagate_config2.py
This script generates a calibrated URDF by combining an exisiting URDF with the results of pr2_calibration_estimation.
./propagate_config [initial.yaml] [calibrated.yaml] [cal_measurements.bag] [cal_output.xml]
[initial.yaml] - The system definition before running calibration
[calibrated.yaml] - The system definition after running calibration
[cal_measurements.bag] - Bagfile that contains the original URDF. The URDF must be availabe on the topic /robot_description as a std_msgs/String
[cal_output.xml] - File to which to write the updated URDF
propagate_baseline.py
This script should be run on a running robot in order to update a stereocamera's baseline parameter.
./propagae_baseline.py camera:=[camera_namespace] [calibration_bagfile] [system_filename] [config_camera_name]
[camera_namespace] - Ros name to prepend onto the call to set_calibration"
[config_filename] - yaml file that stores the baseline shift"
[config_camera_name] - Name of the camera in the system definition file. Tells script which baseline shift to use"