ROS package to calibrate the Kinect Camera π· using a Kinova JACO arm πͺ
This package was built under ROS Kinetic. The packages used for Kinova JACO are here, and for the Kinect are here.
First of all, it is needed a workspace to compile the package:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
Secondly, clone this repository into the src
folder:
$ cd ~/catkin_ws/src
$ git clone https://github.com/nmssilva/jaco-kinectic-calib.git
Now compile it.
$ cd ~/catkin_ws/
$ catkin_make
Make sure you also have the Kinova and Openni packages in the src
folder.
Once everything is compiled, run the driver for the JACO and the Kinect. After you have the JACO and the Kinect running in your PC type this in your terminal:
$ rosrun jaco_kinect_calib jaco_kinect_calibration_node
This will run the calibration and will take a couple of seconds to complete. When the calibration is done a file named camera_rgb_optical_frame.txt
will be created with something like this:
x y z yaw pitch roll
0.369727 0.167635 0.833969 0.003446 3.14159 0.53231
In the terminal run this command
rosrun tf static_transform_publisher x y z yaw pitch roll m1n6s200_link_base camera_rgb_optical_frame 100
Substitute the x y z yaw pitch roll
with the values given in the file.
Now your camera is calibrated. Enjoy π