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Hello,

I posted a similar question a while ago, and not having found a good solution, i coded one myself (unaware of ros industrial package). My solution needs a way to recover a frame through the camera, like ar_pose, plus a marker that is attached to the end effector (no need to know where, only that does not move during calibration). I checked it with Asus Xtion + ar_kinect the solution gives the camera to base frame transformation (plus the position of marker w.r.t. the robot link where the marker is attached, a data that is normally discarded)

see camera_robot_calibration