aubo_i5机械臂无序抓取实践二：eye_in_hand 手在眼上-手眼标定

步骤

一：安装标定包（realsense，easy_handeye，visp，aruco）

• Eye-to-hand 眼在手外：标定的是相机坐标系相对于机器人基座坐标系的位姿
• Eye-in-hand眼在手上：标定的是相机坐标系相对于机器人工具坐标系的位姿

（1）安装realsense-SDK包

1.源码构建SDK，注册服务器的公钥：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

如果仍然无法检索到公钥，请检查并指定代理设置：export http_proxy="http://:"
2.将服务器添加到存储库列表中：

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

3.安装库：

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

4.可选安装开发和调试包：

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

5.重新连接英特尔实感深度摄像头并运行：realsense-viewer以验证安装。
6.验证内核是否已更新：运行以下程序输出应包含realsense字符串
modinfo uvcvideo | grep "version:"

（2）安装realsense-ros

1.建立工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

2.克隆源文件到src文件夹下并编译

git clone https://github.com/IntelRealSense/realsense-ros.git
cd ..
catkin_make

3.设置环境变量

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

4.连接相机测试

roslaunch realsense2_camera rs_camera.launch

紧接着打开一个新终端，输入rviz订阅image，topic设置为depth，即可出图！！

（3）安装aruco包，并编译

cd ~/catkin_ws/src
git clone -b melodic-devel https://github.com/pal-robotics/aruco_ros.git
cd ..
catkin_make

（4）安装visp，并编译visp_hand2eye_calibration这个包，其他包暂时不用全编译

cd ~/catkin_ws/src
git clone -b melodic-devel https://github.com/lagadic/vision_visp.git
cd ..
catkin_make --pkg visp_hand2eye_calibration

（5）安装easy_handeye

cd ~/catkin_ws/src
git clone https://github.com/IFL-CAMP/easy_handeye
cd ..
catkin_make

（6）编译aubo包，这里把上节的aubo_ws/src的aubo_robot复制到catkin_ws/src，重新编译一下即可

（7）下载aruco标定码：https://chev.me/arucogen/

Dictionary:Original ArUco
Marker ID:自己定
Marker size, mm: 100

（8）修改launch文件，easy_handeye里有例程，基于此launch文件进行修改，位置：

easy_handeye/docs/example_launch/ur5e_realsense_calibration.launch
把这个文件复制到easy_handeye/easy_handeye/launch/文件下，并重新命名为eye_to_hand_calibration.launch
原launch文件内容：

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />
    <arg name="eye_on_hand" default="false" />

    <arg name="camera_namespace" default="/camera/color" />
    <arg name="robot_ip" doc="The IP address of the UR5 robot" default="101.101.101.12" />

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.016" />
    <arg name="square_size" doc="The ID of the ArUco marker used" default="0.024" />
    <arg name="square_number_x" default="7" />
    <arg name="square_number_y" default="9" />

    <!-- start the realsense -->
    <include file="$(find realsense2_camera)/launch/rs_rgbd.launch" >
        <arg name="color_height" value="1080" />
        <arg name="color_width" value="1920" />
        <arg name="color_fps" value="30" />
    </include>

    <!-- start ArUco -->
    <node name="easy_aruco_node" pkg="easy_aruco" type="easy_aruco_node">
        <param name="object_type" value="charuco_board" />

        <param name="camera_namespace" value="$(arg camera_namespace)" />
        <param name="dictionary" value="DICT_6X6_250" />

        <param name="camera_frame" value="camera_color_optical_frame" />
        <param name="reference_frame" value="camera_color_optical_frame" />

        <param name="marker_size" value="$(arg marker_size)" />
        <param name="square_size" value="$(arg square_size)" />
        <param name="square_number_x" value="$(arg square_number_x)" />
        <param name="square_number_y" value="$(arg square_number_y)" />
    </node>

    <!-- start the robot (using https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) -->
    <include file="$(find ur_robot_driver)/launch/ur5e_bringup.launch">
        <arg name="robot_ip" value="$(arg robot_ip)" />
<!--        <arg name="kinematics_config" value="path/to/ur5e_calibration.yaml" />-->
    </include>
    <include file="$(find ur5e_moveit_config)/launch/ur5e_moveit_planning_execution.launch" />
    <include file="$(find ur5e_moveit_config)/launch/moveit_rviz.launch" >
        <arg name="rviz_config" value="$(find ur5e_moveit_config)/launch/moveit.rviz" />
    </include>

    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="$(arg eye_on_hand)" />

        <arg name="tracking_base_frame" value="camera_color_optical_frame" />
        <arg name="tracking_marker_frame" value="board" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="tool0" />

        <arg name="freehand_robot_movement" value="true" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
        <arg name="translation_delta_meters" default="0.05"  />
        <arg name="rotation_delta_degrees" default="25"  />
    </include>

</launch>

修改后的launch文件：

<launch>
    <arg name="namespace_prefix" default="aubo_i5_realsense_handeye_calibration" />
    <!-- ip地址根据自己机械臂的地址而定 -->
    <arg name="robot_ip" doc="The IP address of the aubo_i5 robot" default=”192.168.99.254” />

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.1" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="53"/>

    <!-- 1. start the Realsense435 -->
    <include file="$(find realsense2_camera)/launch/rs_camera.launch" />

    <!-- 2. start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <!--marker_size和marker_id根据下载的参数修改 -->
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="camera_color_frame"/>
        <param name="camera_frame"       value="camera_color_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- 3. start the robot -->
    <include file="$(find aubo_i5_moveit_config)/launch/moveit_planning_execution.launch">
        <arg name="sim" value="false" />
        <arg name="robot_ip" value="192.168.99.254" />
    </include>

    <!-- 4. start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <!-- 眼在手上:value=true;眼在手外:value=false -->
        <arg name="eye_on_hand" value="true" />

        <arg name="tracking_base_frame" value="camera_color_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>
</launch>

（9）开始标定

roslaunch easy_handeye eye_to_hand_calibration.launch

运行此命令会打开三个界面：
界面1：

界面2：

界面3：

二：标定过程：运行launch文件，GUI界面没有菜单栏，这个问题还没有解决，在rviz界面订阅image话题代替即可

1.界面一：添加image，订阅aruco tracker/result，即可在rviz界面看到图像。
2.界面二：点击check starting pose，检查成功显示Ready to start:click to next pose，紧接着点击Next pose --> Plan --> Execute，若报：can not calibrate in current position，因为机械臂与二维码的距离太远。手动调节一下机械臂即可。
3.机械臂移动新的位置，移动完毕若二维码在视野范围，即可在界面3点击take sample，若二维码丢失，则这个点作废，回到步骤二。
4.重复步骤2和3,直到移动完17个点，点击compute, Result对话框即可出现标定好的结果。

标定结果：（采集了14个点，丢弃3个点）

根据计算出来的的translation，可用尺子实测一下，偏差不大，标定成功！！

三：发布TF

1.待更新！！！发布tf就运行一个publish.launch文件就可以，具体操作等周末我再更新一下博客，先把环境搭好！

遇到的错误及解决方法：

1.cv2.CALIB_HAND_EYE_TSAI

pip install opencv-python==4.2.0.32