error about using "d435i_xarm_auto_calib.launch"

[youdaorobot]

Hello，I have a question and need help. I installed d435i to the end of Xarm6，and follow the step,launch "d435i_xarm_auto_calib.launch", there is no error,and aruco result can show the coordinate about calibration plate.Then I use the GUI,"Check starting pose ->next pose->Plan->Execute",everthing is ok. Until I click "Take sample",there is error as follow: [ERROR] [1644746643.988081]: Error processing request: "camera_marker" passed to lookupTransform argument source_frame does not exist. ['Traceback (most recent call last):\n', ' File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 632, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/youdao/ros_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_server.py", line 88, in take_sample\n self.sampler.take_sample()\n', ' File "/home/youdao/ros_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 88, in take_sample\n transforms = self._get_transforms()\n', ' File "/home/youdao/ros_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_sampler.py", line 78, in _get_transforms\n Duration(10))\n', ' File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer.py", line 87, in lookup_transform\n return self.lookup_transform_core(target_frame, source_frame, time)\n', 'LookupException: "camera_marker" passed to lookupTransform argument source_frame does not exist. \n'] Traceback (most recent call last): File "/home/youdao/ros_ws/src/easy_handeye/rqt_easy_handeye/src/rqt_easy_handeye/rqt_easy_handeye.py", line 132, in handle_take_sample sample_list = self.client.take_sample() File "/home/youdao/ros_ws/src/easy_handeye/easy_handeye/src/easy_handeye/handeye_client.py", line 76, in take_sample return self.take_sample_proxy().samples File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in call return self.call(*args, *kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 522, in call responses = transport.receive_once() File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 735, in receive_once p.read_messages(b, msg_queue, sock) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 360, in read_messages self._read_ok_byte(b, sock) File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 343, in _read_ok_byte raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str)) rospy.service.ServiceException: service [/xarm_realsense_handeyecalibration_eye_on_hand/take_sample] responded with an error: error processing request: "camera_marker" passed to lookupTransform argument source_frame does not exist. [xarm_realsense_handeyecalibration_eye_on_hand/namespace_youdao_25390_6294775491585827593_rqt-14] process has died [pid 25566, exit code -6, cmd /home/youdao/ros_ws/src/easy_handeye/rqt_easy_handeye/scripts/rqt_easy_handeye name:=namespace_youdao_25390_6294775491585827593_rqt log:=/home/youdao/.ros/log/33de4e52-8cb4-11ec-9694-3c970e6b3238/xarm_realsense_handeyecalibration_eye_on_hand-namespace_youdao_25390_6294775491585827593_rqt-14.log]. log file: /home/youdao/.ros/log/33de4e52-8cb4-11ec-9694-3c970e6b3238/xarm_realsense_handeyecalibration_eye_on_hand-namespace_youdao_25390_6294775491585827593_rqt-14.log

[penglongxiang]

Hi, please confirm from the camera image that the printed marker can be fully seen and detected by the camera, if successfully detected, an x-y-z coordinate system will appear at the center of marker, as well as detected marker ID, like this:

(source: https://github.com/pal-robotics/aruco_ros)

If detection fails, the "camera_marker" frame may not be generated.

[goyalvarun02]

Hi @youdaorobot ,

I have also faced this issue while taking sample , and you just need to be careful and check whether Aruco Marker is completely visible or not . If not it will generate an error if visible then able to take sample successfully.

Thanks