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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
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[WIP but mergable] Add Auto-calibration script with OpenCV #36

Closed egordon closed 10 months ago

egordon commented 10 months ago
  1. Launch robot hardware with readonly:=true
  2. Start camera_calibration.py with the right checkerboard parameters (default matches the checkerboard on the slate)
  3. Teleoperate the robot to different locations with the joystick, making sure the checkerboard pattern is visible
  4. Press SPACE to take a sample
  5. Press d if you need to delete a sample
  6. When all desired samples are taken, press Enter to calculate the camera calibration
  7. camera_color_optical_frame will then be published to the TF tree for validation.

Currently, the results are incorrect and unstable.

TODO @egordon is to figure this out. In the meantime, stick with manual for robot motion.