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| * `[samples_dir]` * `[hardware_config_dir]` |
* `[samples_dir]` - Directory that holds all the samples that need to be collected * `[hardware_config_dir]` - Directory that holds definitions for the sensors and hardware that we want to command |
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| === Defining Sensors === | === Defining Sensors/Hardware === ==== Cameras ==== The cameras on the PR2 are defined in the file [[https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_calibration/tags/boxturtle/pr2_calibration_launch/capture_data/hardware_config/cam_config.yaml | cam_config.yaml]] Example: ~-{{{ narrow_left_rect: cb_detector_config: /narrow_stereo/left/cb_detector_config led_detector_config: /narrow_stereo/left/led_detector settler_config: /narrow_stereo/left/monocam_settler_config configs: cb_7x6: settler: tolerance: 2.00 ignore_failures: True max_step: 1.0 cache_size: 100 cb_detector: active: True num_x: 7 num_y: 6 width_scaling: 1 height_scaling: 1 subpixel_window: 4 subpixel_zero_zone: 1 led_detector: active: False }}}-~ ==== Kinematic Chains ==== ==== Tilt Lasers ==== ==== Controllers ==== |
Only released in EOL distros:
Package Summary
Executive for capture data for running PR2's full system calibration. This package is still experimental. Expect APIs to change.
- Author: Vijay Pradeep
- License: BSD
- Repository: wg-ros-pkg
- Source: hg https://kforge.ros.org/calibration/pr2_calibration
Package Summary
Executive for capture data for running PR2's full system calibration. This package is still experimental. Expect APIs to change.
- Author: Vijay Pradeep
- License: BSD
- Source: hg https://kforge.ros.org/calibration/pr2_calibration (branch: electric_trunk)
Contents
Introduction
The PR2 calibration executive's sole goal is to aid in collecting bagfiles that hold calibration samples (calibration_msgs/RobotMeasurement), which can then be used in pr2_calibration_estimation.
Stability
This package is still unstable, and does not have a released API.
Concepts
Running the Executive
./pr2_exec.py [samples_dir] [hardware_config_dir]
[samples_dir] - Directory that holds all the samples that need to be collected
[hardware_config_dir] - Directory that holds definitions for the sensors and hardware that we want to command
Defining Sensors/Hardware
Cameras
The cameras on the PR2 are defined in the file cam_config.yaml
Example:
narrow_left_rect:
cb_detector_config: /narrow_stereo/left/cb_detector_config
led_detector_config: /narrow_stereo/left/led_detector
settler_config: /narrow_stereo/left/monocam_settler_config
configs:
cb_7x6:
settler:
tolerance: 2.00
ignore_failures: True
max_step: 1.0
cache_size: 100
cb_detector:
active: True
num_x: 7
num_y: 6
width_scaling: 1
height_scaling: 1
subpixel_window: 4
subpixel_zero_zone: 1
led_detector:
active: False
Kinematic Chains
Tilt Lasers
Controllers
