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## title = Kinect URDF Calibration (Experimental)
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## description = Calibrate the Kinect Sensor into PR2's URDF
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>> {{attachment:kinect_calibration.png}} <<TableOfContents(4)>>

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This tutorial will teach you how to calibrate the Kinect sensor into PR2's URDF. This calibration process makes use of stock P2R calibration and is based on estimating the Kinect's RGB camera pose within the URDF model. Coordinate frames for the depth camera are added manually from the  [[openni_camera]] package (openni_camera/launch/kinect_frames.launch).

'''Note:''' For the ROS Electric release, these steps are experimental. Follow this tutorial at your own risk.

'''Steps to re-produce the calibration:'''

== Checkout pr2_calibration stack: ==
{{{
hg clone https://kforge.ros.org/calibration/pr2_calibration
}}}

== Switch to diamondback-kinect branch ==
Switch to diamondback-kinect branch in order to get the configuration files and enable samples for Kinect sensor. Inside repository run:

{{{
hg up -C diamondback-kinect
}}}
'''''Please make sure that from now everything is being ran on diamondback-kinect branch!!!'''''

== Compile ==
Prepend path to [[pr2_calibration]] stack to ROS_PACKAGE_PATH and rosmake it

== Modify Uncalibrated URDF ==
Before you start calibrating the robot, the robot should be started from the newest urdf file that is available.  In the '/etc/ros/diamondback/urdf' folder (there is a specific folder for each distro), you find a number of urdf files  called 'robot_uncalibrated_x.x.x.xml'. Modify the newest uncalibrated urdf file (as root) by inserting the following block into it (Select ONLY ONE of below options):

----
=== Manually ===

{{{
   <joint name="openni_rgb_frame_joint" type="fixed">
    <origin rpy="0.0074253744 0.0418016634 -0.0065419807" xyz="0.0440562178 -0.0135760086 0.1129906398"/>
    <parent link="head_plate_frame"/>
    <child link="openni_rgb_frame"/>
  </joint>
  <link name="openni_rgb_frame">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
  </link>
  <joint name="openni_rgb_optical_frame_joint" type="fixed">
    <origin rpy="-1.5707963268 -0.0000000000 -1.5707963268" xyz="0.0000000000 0.0000000000 0.0000000000"/>
    <parent link="openni_rgb_frame"/>
    <child link="openni_rgb_optical_frame"/>
  </joint>
  <link name="openni_rgb_optical_frame"/>
}}}
=== Using a Script ===
Download following script: http://code.in.tum.de/indefero/index.php//p/mapping/source/tree/master/pcl_cloud_tools/scripts/insert_kinect_urdf.py and run:

{{{
python  insert_kinect_urdf.py <robot_uncalibrated_x.x.x.xml>
}}}
----
This step is necessary because [[pr2_calibration]] stack cannot generate a URDF from scratch. It takes an existing URDF and modifies  a specific number in it. See an attached [[attachment:robot.xml]] for where exactly to make an insertion. Please note that the joint names in the URDF have to match those in the [[openni_camera]] package (openni_camera/launch/kinect_frames.launch).

== Start Up Kinect sensor ==
Install [[ni]] stack and make it. Comment the following line in the openni_camera/launch/openni_node.launch file:

{{{
  <!--<include file="$(find openni_camera)/launch/kinect_frames.launch"/>-->
}}}
Start up Kinect:

{{{
roslaunch openni_camera openni_node.launch
}}}
== PR2 Full System Calibration ==
Perform PR2 Full System Calibration:

([[http://www.ros.org/wiki/pr2_calibration/Tutorials/Calibrating%20the%20PR2|http://www.ros.org/wiki/pr2_calibration/Tutorials/Calibrating%20the%20PR2]]).

If intrinsic calibration is still satisfactory it is safe to skip step 2:  [[http://www.ros.org/wiki/pr2_calibration/Tutorials/Calibrating%20the%20PR2#Calibrate_Camera_Intrinsics|http://www.ros.org/wiki/pr2_calibration/Tutorials/Calibrating%20the%20PR2#Calibrate_Camera_Intrinsics]].

Note that you will in fact now have 9 image_view windows with an additional kinect window.