How to use calibration result of easy_handeye
I have calibrated my camera using easy_handeye and using publish.launch to launch the calibration result. However, I would like to know how I can use this calibration result for my code, where I want to pick and place objects using a robotic arm.
Here is the list of publisher that is publishing the result of hand-eye calibration and subscriber that are subscribing the result.
$ rostopic info /tf_static
Type: tf2_msgs/TFMessage
Publishers:
* /xarm_realsense_handeyecalibration_eye_on_hand/handeye_publisher_akumar_ThinkPad_P17_Gen_2i_114376_5000672119570238070 (http://akumar-ThinkPad-P17-Gen-2i:40065/)
* /robot_state_publisher (http://akumar-ThinkPad-P17-Gen-2i:34185/)
* /camera/realsense2_camera_manager (http://akumar-ThinkPad-P17-Gen-2i:39165/)
* /xarm_realsense_handeyecalibration_eye_on_hand/handeye_publisher_akumar_ThinkPad_P17_Gen_2i_114681_6997610453558885147 (http://akumar-ThinkPad-P17-Gen-2i:38563/)
Subscribers:
* /move_group (http://akumar-ThinkPad-P17-Gen-2i:44351/)
* /xarm_move_group_planner (http://akumar-ThinkPad-P17-Gen-2i:38529/)
* /rviz_akumar_ThinkPad_P17_Gen_2i_114681_6050782860401126934 (http://akumar-ThinkPad-P17-Gen-2i:36855/)
After seeing the above output, I feel that xarm_move_group_planner or move_group uses the calibration result internally. Therefore, I do not need additional subscribers and publishers to transform the data. Please correct me if I am wrong.
I strongly recommend going through MoveIt Tutorials. Once you get the idea, you may ask specific question.
I would like to use the calibrated result (camera on base) in moveIt python api, how can I use that ? Please let me know if you want me to be more detailed. I followed few tutorial and let me be more clear, I have calibrated eye on base result and got the yaml file, I would like to know do I have to write any code or just need to publish the data(https://github.com/IFL-CAMP/easy... and the moveit api would itself use the data to do the required transform.