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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

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

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ROS Utilities for Industrial Calibration

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