Is there a way to take samples without the GUI?

[nivetaiyer]

The GUI doesn't come up in my case. The last log says "all transforms available, ready to take samples". Is there a way I can run this without the GUI?

This is the error:

[static_transform_publisher-1] from 'base_link' to 'camera' [ERROR] [rqt_calibrator.py-3]: process has died [pid 158105, exit code 1, cmd '/home/ANT.AMAZON.COM/nivetai/ros2ws/install/easy_handeye2/lib/easy_handeye2/rqt_calibrator.py --ros-args -r __node:=handeye_rqt_calibrator --params-file /tmp/launch_params_9ogx3md8']. [handeye_server-2] [INFO] [1704395938.674574041] [handeye_server]: Read parameters for calibration "my_eih_calib" [handeye_server-2] [INFO] [1704395938.681624883] [handeye_server]: Checking that the expected transforms are available in tf [handeye_server-2] [INFO] [1704395938.682122270] [handeye_server]: Robot transform: base_link -> link_5 [handeye_server-2] [INFO] [1704395938.682584248] [handeye_server]: Tracking transform: camera -> marker [handeye_server-2] [INFO] [1704395940.829010737] [handeye_server]: All expected transforms are available on tf; ready to take samples

[marcoesposito1988]

Hi @nivetaiyer,

of course, the GUI and the backend communicate over ROS topics/services and you can call those directly with the rqt message publisher or service caller, or with the normal ROS CLI tools.

You can take a look here to see the exposed topics and services.

You could also make your own GUI including the HandeyeClient class in your own script, if you prefer.

[nivetaiyer]

Thank you! Is there a way to take samples from a ros bag instead of publishing to /tf online? I have some data collected and I'm playing it on /tf but I think the library cannot handle a timestamp from the past.

[marcoesposito1988]

Everything should work fine replaying from a rosbag. You may have to set the use_sim_time parameter though. You can check the ROS documentation about replaying ROS bags

[lovelyppp]

Hi @marcoesposito1988, I also encountered the same error. May I ask if there are any possible reasons that could cause this error, and how can I locate the problem？ If I still want to use the GUI, is there any way to solve it? My platform is Humble.

[shrutichakraborty]

Hi @marcoesposito1988 , I am trying this repository for UR10E calibration with realsense camera in eye in hand configuration. I have a few questions:

1. in the readme you mention I need to add the tracking_marker_frame, so does that mean that I need to have custom script on my end in charge of detecting the pose of a charuco marker and publishing it? Will I publish this in the camera frame? In that case the tracking_marker_frame is the same as the tracking_base_frame? I am guessing tracking_base_frame will be the camera optical frame?

2. How do I register different poses? On humble I am not sure the gui is working, is there a way to move the robot manually and register the poses in a script via the provided code?

Thanks a lot!