industrial_calibration_ros2

ROS2 utilities for the industrial_calibration repository. It enables the use of the core functionality through ROS2 services, topics, and parameters. You will also need the core repository to use this code - see the Build section below.

Architecture

Nodes

Data Collector Node

ROS node that collects data for performing hand-eye calibration with an RGB camera. This node:

• subscribes to
  • an image topic (sensor_msgs/Image) in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
  • TF, to compute the pose from the camera/target mount frame to the moving camera/target frame

    Note: a calibration observation is acquired whenever a new image is received by the subscriber

• exposes a service for saving collected image/pose observation pairs to a specified directory (/save)

3D Data Collector Node

ROS node that collects data for performing a hand-eye calibration with a combination RGB + point cloud sensor This node:

• subscribes in a synchronized manner to:
  • an image topic (sensor_msgs/Image) in which a calibration target has been identified (i.e., the republished image topic from the target finder node)
  • a point cloud topic (sensor_msgs/PointCloud2) of the 3D scene in which the calibration target has been identified
  • TF, to compute the pose from the camera/target mount frame to the moving camera/target frame

    Note: a calibration observation is acquired whenever a new image/point cloud pair is received by the synchronized subscriber

• exposes a service for saving collected image/cloud/pose observations to a specified directory (/save)

Target Finder Node

ROS node that subscribes to an image topic (sensor_msgs/Image) and attempts to identify a calibration target in the image. If the target is identified, it:

• republishes the original image on a new topic
• publishes a new image with the target features overlaid on the original image for visualization

Image Trigger Node

ROS node that subscribes to an image topic (sensor_msgs/Image) and provides a service (std_srvs/Trigger) for republishing that image on command. This node is intended to act as a software trigger for cameras that publish images continuously or at a frequency faster than the desired calibration observation collection.

Build

cd <workspace>
vcs import src < src/industrial_calibration_ros2/dependencies.repos
rosdep install --from-paths src -iry
colcon build

Run

ros2 launch industrial_calibration_ros data_collection.launch.xml