Guide - How to use robot_calibration with UR5

[Abishalini]

Description

This is a guide on how to use robot_calibration - https://github.com/mikeferguson/robot_calibration

The plan is to test the package with a UR5, a Realsense L515 and a checkerboard.

Steps to run the calibration process -

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.14.11 use_fake_hardware:=false launch_rviz:=false

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true

ros2 launch moveit2_tutorials calibrate.launch.py 

Currently, the UR5 can move to all the locations specified in calibration_poses.yaml but the camera and calibration parameters need to be set correctly.

TODO:

• [ ] Edit URDF to include camera link
• [ ] Find why the Realsense driver occasionally crashes or prints the following message repeatedly (the camera information is not published in this case)

[realsense2_camera_node-1]  11/08 16:01:04,703 WARNING [140017385064000] (backend-v4l2.cpp:1127) Frames didn't arrived within 5 seconds
[realsense2_camera_node-1] [WARN] [1660255264.779405416] [camera.camera]: XXX Hardware Notification:Frames didn't arrived within 5 seconds,1.66026e+12,Warn,Frames Timeout

• [ ] Combine all the launch files to one
• [ ] Figure out parameter values for the robot_calibration node. Check calibrate.yaml
• [ ] Write tutorial
• [ ] Add more calibration poses

Checklist

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[mergify[bot]]

This pull request is in conflict. Could you fix it @Abishalini?

[mergify[bot]]

This pull request is in conflict. Could you fix it @Abishalini?

[mergify[bot]]

This pull request is in conflict. Could you fix it @Abishalini?

[mergify[bot]]

This pull request is in conflict. Could you fix it @Abishalini?