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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
142 stars 79 forks source link

Target not detected #119

Open DaveBGld opened 2 years ago

DaveBGld commented 2 years ago

I followed the tutorial, printed a 1X1 Aruco, and mounted on a plate grasped by the gripper, and bring the aruco in view of the camera. Pleased see the attached picture

In Target Pose Detection, Image Topic is /handeye_calibration/target_detection. and cameraInfo Topic is /camera/color/camera_info

The in the Context Tab, the Object_frame drop down field is empty.

The tutorial focuses on eye in hand calibration, but I'm doing eye on hand calibration, and a bit in the dark.

Very grateful for any help!!

Screenshot from 2022-06-30 14-56-42

JStech commented 2 years ago

You've selected the wrong image topic. You should use the topic that your camera publishes--probably also something like /camera/color/. The target_detection topic is where MoveIt Calibration publishes the input image with the detected target annotated.

Also, a 1x1 ArUco marker will have very noisy pose estimates. I suggest using a larger ChArUco board.