moveit2_tutorials
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ros-planning
Port Hand-Eye Calibration to ROS 2 and add Gazebo calibration demo
- Depends on https://github.com/ros-planning/moveit_calibration/pull/118
Description
This PR aims to port Hand-Eye Calibration tutorial to ROS 2 while also adding a demo inside ~Ignition~ Gazebo (WMD22).
The video below shows the Gazebo environment for eye-to-hand/eye-in-hand calibration scenarios.
https://github.com/ros-planning/moveit_calibration/assets/22929099/b6194d07-2bbb-405a-b0ea-9b1c643f8d22
Unfortunately, I currently cannot get ~Ignition~ Gazebo + ros2_control working in Jammy (humble/rolling) due to https://github.com/gazebosim/gz_ros2_control/issues/62. Therefore, panda_ign_moveit2 with galactic is currently used in the demo from video above to provide robot configuration for Gazebo until it is available inside one of the MoveIt 2 repositories.
Checklist
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Hi,
Is this still under works? I'd like to try this out on Moveit2. Currently, I'm facing this issue on noetic. Basically rviz crashes with segfault evertime the solver is run.
Hello @prasuchit. ROS 2 tutorial for moveit_calibration is not yet available because the ROS 2 port of moveit_calibration is not finalised. You can track the conversation under https://github.com/ros-planning/moveit_calibration/pull/118 to see what packages must be ported to ROS 2 first.