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.. _camera: |
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Camera |
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Tower-mount camera calibration |
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On workstation or your PC |
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1. To shh the youbot (in all terminals): |
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.. code-block:: bash |
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yb2 |
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.. note:: |
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alias yb2=ssh -X robocup@youbot-brsu-2-pc2 |
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2. Export the youbot ssh alias |
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.. code-block:: bash |
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export_yb2 |
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.. note:: |
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alias export_yb2=export ROS_MASTER_URI=http://youbot-brsu-2-pc2:11311 |
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On robot |
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3. Launch the robot |
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.. code-block:: bash |
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roslaunch mir_bringup robot.launch |
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4. Launch Nav2d (to visualize the robot in Rviz) |
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.. code-block:: bash |
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roslaunch mir_2dnav 2dnav.launch |
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4. Run calibration |
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.. code-block:: bash |
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roslaunch mir_calibrate_pick calibrate_pick.launch |
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A small gui window to adjust the pose of the end-effector in terms of XYZRPY will appear. |
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5. Place a small round object on the ground (at approx. 25 cm from the center of the front wheel) |
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On workstation or your PC |
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6. Run rviz |
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.. code-block:: bash |
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rosrun rviz rviz |
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7. Load the camera_calibration_config.rviz config and set the global frame to `base_link` |
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Ensure to enable `raw_color_pcl` and `camera_calibration_obj_pose`. You can see an arrow pointing away from the robot. |
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8. Adjust the values in the pose mockup gui, so that the beginning of the arrow matches the center of the round object. |
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.. note:: |
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Make sure the object is not too far away from the robot and the Z value is slightly above the object. |
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.. figure:: images/camera_calib_side.png |
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:align: center |
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Camera calibration example side view |
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.. figure:: images/camera_calib_top.png |
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:align: center |
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Camera calibration example top view |
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On robot |
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9. Test the calibration in another terminal |
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.. code-block:: bash |
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rosrun mir_calibrate_pick calibrate_pick_client_test.py |
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The robot will move towards the gripper and move the end-effector of the arm close the object based on the given offset. |
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10. If the final end-effector position is not properly aligned to the desired goal position, in the robot navigate to the robot urdf configuration and edit the `robot.urdf.xacro` |
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.. code-block:: bash |
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/ros/noetic/robocup/src/mas_industrial_robotics/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro |
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.. code-block:: bash |
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<xacro:realsense_d435 name="arm_cam3d" parent="base_link"> |
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<origin xyz="0.30 -0.05 0.80" rpy="0.00 1.137 0.0" /> |
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</xacro:realsense_d435> |
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Adjust the values of xyz and rpy to account for the offset according to the values set in step 8 and repeat from step 8. |
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11. If the final end-effector position is properly aligned to the desired goal position, the camera calibration is complete. |
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12. Terminate all operations and relaunch the robot to continue. |
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.. _realsense2_camera: |
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RealSense2 camera |
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How to use the RealSense2 camera |
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1. Installation |
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Go to the intel-ros github page. Clone the realsense repository in your catkin workspace inside src: |
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.. code-block:: bash |
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git clone [email protected]:intel-ros/realsense.git |
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2. Camera Output |
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Run the following to get access to the camera: |
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.. code-block:: bash |
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roslaunch realsense2_camera rs_rgbd.launch |
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Open rviz to visualize the camera output. |
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3. Configure camera output (OPTIONAL) |
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Run the following to open the rviz configuration window: |
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.. code-block:: bash |
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rosrun rqt_reconfigure rqt_reconfigure |
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You can also try to change the "octree_resolution" value: |
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.. code-block:: bash |
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cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/config |
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4. Setup Base Frame |
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Run the following: |
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.. code-block:: bash |
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rosrun tf static_transform_publisher x y z roll pitch yaw base_link camera_link 100 |
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where x, y, z are the distances and roll, pitch, yaw are the rotations from the base_link to the camera_link. |
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To visualize your frames in rzviz, add the TF feature in the rviz menu. |
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5. Save Point Clouds |
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If it's your first time saving point clouds, you need to choose where you want to save them and enable data collection: |
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.. code-block:: bash |
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cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/launch |
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Change the value of "dataset_collection" from "false" to "true". Change value of "logdir" from "/temp/ |
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to the path in your computer where you want to save the files. |
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Run the following to get access to the point clouds given by the camera: |
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.. code-block:: bash |
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roslaunch mcr_scene_segmentation scene_segmentation.launch input_pointcloud_topic:=/camera/depth_registered/points |
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Publish the message 'e-start': |
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.. code-block:: bash |
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rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_start'" |
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Publish the message 'e-add-cloud-start': |
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.. code-block:: bash |
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rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_add_cloud_start'" |
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This last one will save the current point cloud of the observed object in your system. |
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.. warning:: |
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Sometimes the camera won't save the point cloud (don't worry, not your fault). |
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Just try a different position for the object until it works. |
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6. Visualize Point Cloud |
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Run the following in the folder where you saved the point clouds: |
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.. code-block:: bash |
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pcl_viewer *.pcd file you want to open* |
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