ROS下UR5、usb_cam单目外参标定（使用easy_handeye、眼在手上eye-in-hand）

最新推荐文章于 2025-06-26 17:14:17 发布

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最新推荐文章于 2025-06-26 17:14:17 发布 · 4.8k 阅读

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#UR5 #ROS #眼在手上eye-in-hand #easy_handeye

近期借助easy_handeye标定包完成了基于usb摄像头和UR5机械臂的外参标定，采用眼在手上(eye-in-hand)的标定方式。现在对整个标定过程做一个总结，以供大家参考和交流。

一、软件环境配置

硬件平台：PC、UR5、USB摄像头
软件平台：Ubuntu16.04、ROS kinetic

依赖包的安装（注意对应的ROS版本号）

usb_cam驱动包安装

sudo apt-get install ros-indigo-usb-cam

aruco_ros安装

$cd ~/catkin_ws/src/
$git clone https://github.com/pal-robotics/aruco_ros.git
$cd ..
$catkin_make install

easy_handeye安装

visp安装

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

easy_handeye安装

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

二、修改标定launch文件

针对官方给出的标定launch文件进行修改，ubuntu下的文件路径 …/easy_handeye/docs/example_launch/ur5_kinect_calibration.launch
这个launch文件能够启动

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

    <arg name="robot_ip" doc="The IP address of the UR5 robot" />

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

    <!-- from aruco pkg -->
    <arg name="marker_id"        default="582"/>
    <arg name="marker_size"      default="0.036"/> 

    <!-- start the usb_cam-->
    <include file="$(find usb_cam)/launch/usb_cam-test.launch" />

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/usb_cam/camera_info" />        //换成usb-cam包对应的话题
        <remap from