search

xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
215 stars 158 forks source link

Realsense D435 eye-in-hand #85

Closed Aki92-Xavier closed 3 years ago

Aki92-Xavier commented 3 years ago

Hi, I am using realsense D435 and Xarm6. I found this launch file in xarm_ros/xarm_camera/launch/xarm_realsense_d435i_eyeinhand.launch.

Could you please explain how to use this launch file and does it calibrate?

penglongxiang commented 3 years ago

Hi @Aki92-Xavier, we are testing the camera calibration support, but this part is actually not ready for release yet, we uploaded it by mistake. Since it's still under development, we are not sure if this can give the correct calibration.

Aki92-Xavier commented 3 years ago

Thank you for your quick reply. I'm looking forward to see the camera calibration for xarm.

jzx-gooner commented 2 years ago

Hi @Aki92-Xavier, we are testing the camera calibration support, but this part is actually not ready for release yet, we uploaded it by mistake. Since it's still under development, we are not sure if this can give the correct calibration.

now,can we use the camera calibration correctly?

penglongxiang commented 2 years ago

hi @jzx-gooner , yes it is ready now for realsense D435i with real xArm. Please refer to https://github.com/xArm-Developer/xarm_ros#7-xarm-vision

jzx-gooner commented 2 years ago

hi @jzx-gooner , yes it is ready now for realsense D435i with real xArm. Please refer to https://github.com/xArm-Developer/xarm_ros#7-xarm-vision

cool,i will try !

goyalvarun02 commented 2 years ago

hi @jzx-gooner @penglongxiang , yes it is ready now for realsense D435i with real xArm. Please refer to https://github.com/xArm-Developer/xarm_ros#7-xarm-vision

  1. Eye-In-hand case I was trying eye on hand calibration. I have kept the Aruco marker on table and camera facing to Aruco marker . I was able to do check starting pose somehow . Thereafter clicked on next pose, plan and execute then End effector (with Gripper) moves to the position from where Aruco marker is not visible completely (only partially visible) . Then I try to click on taking sample and it failed (as expected) .

Then I tried to skip the sample where Aruco marker is not visible completely and then I lead to taking samples around 8-10. Then Compute and save the calibration but that was not precise. Is there any particular number of samples must be for precise coordinate?

  1. Eye-on-Base I have tried calibration multiple times changing the position of camera and robot . I am observing the coordinates of object returning from camera are not accurate, it is +/- X/Y . So, gripper not able to go to the exact position of object although it missed the object. If possible, can you advise anything for this as well.

May I know in which scenario “pre-empted” can occur? And reason of its occurrence while calibrating or executing using move it?

Thanks

penglongxiang commented 2 years ago

hi @goyalvarun02,

  1. For my own experience, if the marker moves out of vision, just skip this sample and click next. If after one cycle there is not enough valid sample points, then go with "check starting point" and do the whole process again until there are at least 15 valid samples.

  2. Sorry I have no experience of Eye-On-Base calibration, you may consult "easy-handeye" developers/maintainers for advice. Or check if there is better calibration method other than this.

  3. "Preempted" is usually caused by real robot failing to follow the command trajectory during execution of a successful plan. Please check if there is any Error Code reported from xArm controller side.