add calibration_setup_helper program

[k-okada]

• setup helper program for generating calibration package for a robot
• here is how I checked the program
  • run baxter simulaiton

<launch>
  <include file="$(find baxter_gazebo)/launch/baxter_world.launch" />
  <anode pkg="baxter_interface" type="joint_trajectory_action_server.py"
        args="--limb both" name="joint_trajectory_action_server" />
  <node pkg="image_proc" type="image_proc" name="camera_rgb_image_proc"
        ns="/camera/rgb" />
  <node pkg="topic_tools" type="relay" args="/robot/joint_states /joint_states"
        name="joint_states_relay" />
  <node pkg="image_view" type="image_view" name="image_view_rect" >
    <remap from="image" to="/camera/rgb/image_rect" />
  </node>

</launch>

• run setup helper under /src/ directory

(cd src; rosrun calibration_setup_helper calibration_setup_helper.py
        `rospack find baxter_description`/urdf/baxter.urdf
        --base-link 'torso' --arm-end-link 'right_gripper_base'
        --head-end-link 'camera_rgb_frame'
        --arm-controller=/robot/limb/right/command
        --head-controller=/robot/limb/head/command)

• run catkin_make to register generated baxter_calibration package
• run make_sample.py program to correct calib posture

rosrun baxter_calibration make_samples.py

use C-c to step

• run capture data program

roslaunch baxter_calibration capture_data.launch

• run calibration program

rosrun baxter_calibration calibrate_baxter.sh

[k-okada]

you need to include foolowing PRs to run examples

• https://github.com/RethinkRobotics/baxter_interface/pull/37
• https://github.com/ros/urdfdom/pull/46
• https://github.com/ros-perception/calibration/pull/27

[k-okada]

It may not work well, please do not merge yet

[k-okada]

I think it is now ok to merge

[garaemon]

+1

[vrabaud]

also, please add a REAMD file that contains what you described at the beginning of that bug report. @mikeferguson , any opinion against ? Looks pretty useful to me

[mikeferguson]

I didn't look at it in detail, but it seems fine.

[vrabaud]

please set yourself as an author/maintainer. Installing your script would be more proper with a setup.py (especially to make your code runnable from Python3)

[k-okada]

ok, I have fexed, and also create #37 that include branch to use setup.py. Just to make sure that if se use setup.py , it install the script under global bin instead of package bin. Is it ok?

[vrabaud]

You are totally right, this is not ok :( I was wrong. The setup.py helps dealing with Python 3 but let's ignore that for now. Just update the maintainers/authors and license on this pull request. Sorry for the noise.