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marcoesposito1988 / easy_handeye2

Automated, hardware-independent Hand-Eye Calibration for ROS2
GNU Lesser General Public License v3.0
60 stars 11 forks source link

Is there a way to take samples without the GUI? #4

Open nivetaiyer opened 10 months ago

nivetaiyer commented 10 months ago

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 commented 9 months ago

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 commented 9 months ago

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 commented 9 months ago

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 commented 3 months ago

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.