UR3机械臂使用kinect2相机利用easy_hand手眼标定

１.下载easy_handeye(标定的工具包)

https://github.com/IFL-CAMP/easy_handeye

2.下载vision_visp(标定过程调用)

下载aruco_ros(标定过程调用)

https://github.com/pal-robotics/aruco_ros

进入/catkin_ws/src/easy_handeye/docs/example_launch目录下

官方提供的是UR5版本，修改为UR3版本，如下：

<arg name="robot_ip" doc="The IP address of the UR3 robot" />

<arg name="marker_size" doc="Size of the ArUco marker used, in meters" />
<arg name="marker_id" doc="The ID of the ArUco marker used" />

<!-- start the Kinect -->(我用的是kinect2：参考https://github.com/code-iai/iai_kinect2)
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" >
</include>

<!-- start ArUco -->
<node name="aruco_tracker" pkg="aruco_ros" type="single">
    <remap from="/camera_info" to="/kinect2/hd/camera_info" />
    <remap from="/image" to="/kinect2/hd/image_color_rect" />
    <param name="image_is_rectified" value="true"/>
    <param name="marker_size"        value="0.02"/>
    <param name="marker_id"          value="582"/>
    <param name="reference_frame"    value="kinect2_rgb_optical_frame"/>
    <param name="camera_frame"       value="kinect2_rgb_optical_frame"/>
    <param name="marker_frame"       value="camera_marker" />
</node>

<!-- start the robot -->
<include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
    <arg name="limited" value="true" />
    <arg name="robot_ip" value="192.168.0.9" />
</include>
<include file="$(find ur3_moveit_config)/launch/ur3_moveit_planning_execution.launch">
    <arg name="limited" value="true" />
</include>

<!-- start easy_handeye -->
<include file="$(find easy_handeye)/launch/calibrate.launch" >
    <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
    <arg name="eye_on_hand" value="false" />

    <arg name="tracking_base_frame" value="kinect2_rgb_optical_frame" />
    <arg name="tracking_marker_frame" value="camera_marker" />
    <arg name="robot_base_frame" value="base_link" />
    <arg name="robot_effector_frame" value="wrist_3_link" />

    <arg name="freehand_robot_movement" value="false" />
    <arg name="robot_velocity_scaling" value="0.5" />
    <arg name="robot_acceleration_scaling" value="0.2" />
</include>

５. 在该目录下执行

roslaunch ur3_kinect_calibration.launch

一定要打开如下image_viewer

UR3机械臂使用kinect2相机利用easy_hand手眼标定

选点总共17个位置（过程如下, 记得采点take sample），所有点采完后，进行compute

作者：SpengTAN
来源：CSDN
原文：https://blog.csdn.net/SpengTAN/article/details/90243200
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