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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
132 stars 76 forks source link

Port to ROS 2 #99

Open AndyZe opened 3 years ago

AndyZe commented 3 years ago

I'm starting to port this to ROS2. It is needed.

@JStech or @RoboticsYY, would you mind creation of a foxy branch?

JStech commented 3 years ago

Sounds good, thanks.

The dependencies need to be ported to ROS2: https://github.com/crigroup/baldor/pull/5 https://github.com/crigroup/criutils/pull/5 (crigroup/handeye will probably also need one).

henningkayser commented 2 years ago

Abi took over this effort in #101, so I'm reassigning this to her. There is also a ros2 branch now which should be used instead of foxy.

@Abishalini any thoughts on the WIP ports of the crigroup dependencies?

lchojnacki-agribot commented 2 years ago

Hello, any news about porting moveit_calibration package to ros2? I'd like to use this package in galactic, and for that reason I pulled PR version of it and compiled, but unfortunately I receive some 'symbol lookup error undefined symbol' errors.

If there is any way to move it forward I can help.

Abishalini commented 2 years ago

Hi @lchojnacki-agribot, @vatanaksoytezer pushed a fix to rviz_visual_tools yesterday that fixes the symbol lookup error. If you run into more errors/issues, can you mention them here? Thanks!

lchojnacki-agribot commented 2 years ago

Hi @Abishalini, Thanks for your response. The next issue is the following, after adding the plugin in rviz I get image

I've installed everything via rosdep.

tlpss commented 2 years ago

hi @Abishalini, is there any news on the ROS2 port?

tlpss commented 2 years ago

Hi @Abishalini, Thanks for your response. The next issue is the following, after adding the plugin in rviz I get image

I've installed everything via rosdep.

@Abishalini, I'm encountering the same issue. The GUI loads on RVIZ but it cannot find plugins. image

Would love to see see the calibration working in galactic and would be willing to assist when given some directions (I have no experience with RVIZ plugins)

tlpss commented 2 years ago

@henningkayser @Abishalini, ping for a small update w.r.t. ROS2

HamzaNaseerFHWS commented 2 years ago

@tlpss were you able to get it running on galactic? Im encountering the same issue at the moment.

tlpss commented 2 years ago

@HamzaNaseerFHWS , no I didn't unfortunately

benediktkreis commented 1 year ago

Is there any progress on the port to ROS2? I've noticed that in the foxy branch as well as in the ros2 branch, there are still catkin dependencies instead of colcon. As a result it is not possible to build the two branches with ROS2. Is this going to change in the near future? I believe that this is a crucial package for anyone working with CV and Moveit2.

ozangungor12 commented 1 year ago

Hello, couldn't agree more with @benediktkreis. Is there any update on this? Me and my team would like to use this package in ROS2.

peterdavidfagan commented 1 year ago

@ozangungortuhh did you perform this calibration on an earlier version of ROS while waiting for this to get ported? I think that is currently the strategy to take. I am also interested in using this package in ROS 2.

It may also be worth testing/contributing to https://github.com/ros-planning/moveit_calibration/pull/101.

ozangungor12 commented 1 year ago

Hello @peterdavidfagan, I did the calibration with ROS 1 and used the result of the calibration launch file with ROS 2.

hamsadatta commented 1 year ago

Hello, any updates on this? I am interested in using this package in one of our projects.

Sumanth-Pashuparthi commented 4 months ago

Hello!!

Anyone done with porting this comppletely to ROS2?

peterdavidfagan commented 4 months ago

Hi @Sumanth-Pashuparthi,

I don't think this has been ported yet. I created an unofficial lightweight package for my own work here. It's integrated into my own workspace stack so likely needs some work on the packaging side as I haven't been testing it as an isolated build (although maybe it works fine as is). The code in this package may be useful for getting started with calibrating extrinsic camera paramters.