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:
skiros:hasA
Gripperskiros:contain
Cameraskiros:spatiallyRelated
ViewFramescalable:estimateOf
Camerascalable:estimateOf
MarkerThe Arm needs the following properties set in the world model:
skiros:LinkedToFrameId
skiros:MotionExe
skiros:MoveItGroup
(when using MoveIt implementation)skiros:MoveItReferenceFrame
(when using MoveIt implementation)skiros:MoveItTCPLink
(when using MoveIt implementation)The Camera needs the following properties set in the world model:
skiros:DriverAddress
The Gripper needs the following properties set in the world model:
skiros:SizeY
(when using the Kuka implementation)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.