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.

Rviz Integration

This repository provides an Rviz panel for performing data collection for an extrinsic hand eye 2D camera calibration (using the services provided by the data collection pipeline) and calibration using the extrinsic hand eye calibration widget from industrial_calibration.

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