Hand-eye calibration with SkiROS

Hand-eye calibration is currently implemented in the handeye_calibration_coordinator skill in the vision_skills repository.

Required world model elements:

Required world model relations:

The Arm needs the following properties set in the world model:

The Camera needs the following properties set in the world model:

The Gripper needs the following properties set in the world model:

When running, the skill will update the position of MarkerEstimate and CameraEstimate. The Camera position with be updated periodically based on CameraEstimate. Finally, the skill will terminate when the CameraEstimate is considered converged.

To-Do list for Hand-Eye calibration skill