Create the (un)calibrated xacro file

[bernardomig]

Goal

• create xacro with <unless> calibrated
• get the calibration of both the camera and laser from xacro in calibration/hand_in_eye.urdf.xacro

[bernardomig]

Calibration urdf done. The following explains how this calibration works.

Calibration files

Both the camera calibration and laser calibration are stored in 2 yaml files: camera_calibration.yaml and laser_calibration.yaml in lemonbot_calibration/calibration.

This files look like:

xyz: [0.03, -0.1, 0.1]
rpy: [-1.57, 0, 0]

Xacro file

When the lemonbot xacro is processed, both files can be loaded using the calibrated option. This is an argument of load_urdf.launch.

If the calibration option is false, then the transformations are null. If it is true, then both calibrations are loaded and put into the robot_description.

The load_urdf.launch alse was the 2 following arguments, to specifying the load path of the files. The default path is lemonbot_calibration/calibration/xxxxx_calibration.yaml.

<arg name="camera_calibration_file" default="$(find lemonbot_calibration)/calibration/camera_calibration.yaml" />
<arg name="laser_calibration_file" default="$(find lemonbot_calibration)/calibration /laser_calibration.yaml" />

[miguelriemoliveira]

Hi @bernardomig

great. These instructions (or part of them) are relevant for calibrating the system?

If so they should be in the README.

If you tested and validated you can close the issue.

[bernardomig]

@miguelriemoliveira

They are for storing the calibration data (xyz and rpy). I'll add to the README