jaco-kinect-calib

ROS package to calibrate the Kinect Camera 📷 using a Kinova JACO arm 💪

This package was built under ROS Kinetic. The packages used for Kinova JACO are here, and for the Kinect are here.

Setup

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 👌