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marcoesposito1988 / easy_handeye_demo

Virtual demonstration of a hand-eye calibration with easy_handeye, no hardware required
GNU General Public License v3.0
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The result is different from the listening for tf2 #12

Open nanyi98 opened 2 years ago

nanyi98 commented 2 years ago

I use the command "roslaunch easy_handeye_demo calibrate.launch eye_on_hand:=true" to start the simulation , when I sample and compute , I get the result shown in figure 1 , It is close to the parameters in calibrate.launch file（value="0.12 0.21 0.137 0 0 0 1"）. But when I use tf2 to get the relative positional relationship between tracking_origin and iiwa_link_ee , the result in figure 2 I get is different from the "value = 0.12 0.21 0.137 0 0 0 1" , do you know why ? Looking forward to your reply!

figure1 figure2

marcoesposito1988 commented 2 years ago

Hi @nanyi98,

the result of the calibration is not immediately applied to the system. To see the result, you need to save the calibration to file with the "save" button and restart the system with another launch file that runs the calibration publisher instead of the calibration tool. You can find more information in the README.