Coordinate error in easy_handeye calibration, with UR5 & realsense D435

asked 2019-08-23 02:18:10 -0600

OliverWang gravatar image

Operating System: Ubuntu 16.04 Ros version: kinetic

Guys, I got into some trouble in a hand-eye calibration procedure, using UR5 & IntelRealsense D435 depth camera, and based on the easy_handeye package. I follow the tutorials/blogs(in Chinese of course) on the internet, installed packages required, set up the environment and wrote my personalized .launch file. My camera is installed rigidly on the end of the ur5 so "eye_on_hand" = true in the .launch file. I run the following command to start the calibration procedure.

roslaunch ur_modern_driver ur5_bringup.launch limited:=true robot_ip:=
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
roslaunch realsense2_camera rs_rgbd.launch
roslaunch easy_handeye ur5_realsense_handeyecalibration.launch

Everything went well and no error reported in the terminal, I got 15 samples out of those 17 positions. However i found the calibration result weird when i published and showed the result in rviz.

when i set "eye_on_hand" = true, the position and orientation of camera_linkwas completely wrong, the origin of which overlaps with the origin point of base_link.

Anyone knows what the problem is?

Sorry for not showing the picture here because this is my first post and i don't have enough points.

I can post my .launch file if required.

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