Comments (2)
Took an initial pass at this by modifying existing variables in my modified godel_robots package.
<xacro:property name="ensenso_optical_x" value="0.0197"/> <!--tool0 to color camera lens--> <xacro:property name="ensenso_optical_y" value="0.0908"/> <!--tool0 to sensor centerline--> <xacro:property name="ensenso_optical_z" value="0.112141"/> <!--tool0 to xtion front face-->
This helps significantly, though it's still off very slightly since surfaces still very slightly change position when rotating the sensor.
from yak.
I did an actual calibration of the camera to find its 6-DOF transform relative to robot tool0. I also fixed the interpretation of the camera frame to allow its X and Y axes to match the axes of the camera image, which fixed several other problems throughout the project. There's still work to be done to make sure that the reconstruction is actually correct, but this particular issue with the URDF has been resolved.
from yak.
Related Issues (14)
- TSDF loses out-of-view surfaces when new data is integrated
- Rviz crashes when moving interactive marker for volume pose
- terminate called after throwing an instance of 'tf2::LookupException' HOT 5
- Multiple octomap views generated and octomap flipped HOT 10
- No robot motion after relaxing camera pose constraints HOT 1
- raycast_image corrupted when using gazebo camera HOT 1
- Unable to start the node
- TODOs
- Examples
- Meshing doesn't work on voxel volumes with non-identical length, width, and height HOT 3
- Use known transform between camera and voxel volume frames instead of estimating HOT 1
- Serialized TSDF exceeds 1 GB size limit for ROS messages.
- Interactive marker for volume pose always starts at origin
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from yak.