pr2_calibration: pr2_calibration_estimation | pr2_calibration_executive | pr2_calibration_launch | pr2_calibration_propagation | pr2_dense_laser_snapshotter

Stack Summary

Provides a toolchain running through the robot calibration process. This involves capturing pr2 calibration data, estimating pr2 parameters, and then updating the PR2 URDF. This stack is very unstable. Expect many API changes.

• Author: Maintained by Vijay Pradeep
• License: BSD
• Repository: wg-ros-pkg (https://code.ros.org/svn/wg-ros-pkg)

Documentation

This stacks provides tools for calibrating several aspects of the PR2's kinematics. This probably needs to be run only once per robot, unless sensors or mechanical parts are replaced or reattached. Recalibrating camera intrinsics will also most likely require a a system recalibration

The following aspects of the PR2 will be calibrated by the pr2_calibration stack

• Forearm camera locations
• Stereocam locations
• Stereocam baselines
• Joint angle offsets (Arms and Head)
• Tilting Laser Location

The following aspects of the PR2 are not calibrated by the pr2_calibration stack

• Location of the PR2's Hi-Res Prosilica head camera
• Camera Intrinsics (Distortion coefficients, Focal Lengths, etc)
• Belt Stretch (deflection due to commanded effort)
• Motor/Joint gear reductions

• Link lengths & Link skew

More information is available at:

• pr2_calibration_executive

• pr2_calibration_estimation

• pr2_calibration_propagation

Calibrating the PR2

Follow instructions in the Calibrating the PR2 Tutorial.

Report a Bug

Use trac to report bugs or request features