Only released in EOL distros:
Package Summary
Miscellaneous Tools for CARL
- Maintainer status: maintained
- Maintainer: David Kent <dekent AT gatech DOT edu>
- Author: Russell Toris <russell.toris AT gmail DOT com>, David Kent <dekent AT gatech DOT edu>
- License: BSD
- Bug / feature tracker: https://github.com/GT-RAIL/carl_bot/issues
- Source: git https://github.com/GT-RAIL/carl_bot.git (branch: master)
Contents
About
The carl_tools package contains miscellaneous functionality and tools for the CARL robot. This currently includes an automatic calibration system for the transforms between CARL's sensors and their respective mounts, and an arm current logger.
Nodes
camera_external_calibration
This node automatically determines transformations between CARL's depth sensors and their respective mounts.Subscribed Topics
asus_marker_tracker/ar_pose_marker (ar_track_alvar_msgs/AlvarMarkers)- AR marker poses detected from the Asus camera.
Published Topics
asus_controller/command (std_msgs/Float64)- Send position commands to the Asus servo controller.
Parameters
calibration_marker_id (int, default: 200)- ID number for the calibration AR marker.
current_logger
Log currents on the JACO arm and finger joints to a text file.Subscribed Topics
jaco_arm/joint_states (sensor_msgs/JointState)- Arm joint states.
Parameters
filename (string, default: "arm_currents.txt")- Name of file to save currents to. If the file already exists, it new current readings will be appended to the end of the file, otherwise it will create the file.
Installation
To install the carl_bot package, you can install from source with the following commands:
Startup
External camera calibration can be started with the following launch command:
roslaunch carl_tools camera_external_calibration.launch
Optionally, an rviz interface for visualizing the calibration process and final calculated transforms can be launched with:
roslaunch carl_tools view_calibration.launch
Current logging can be started by running the current_logger node, with an optional parameter for the output file name (replace <output_filename>), and it will continue to log currents until the node is terminated.
rosrun carl_tools current_logger _filename:=<output_filename>
Calibration Procedure
To calibrate the cameras, first make sure a unique AR tag is placed in a known location with respect to the robot. By default, the calibration node expects a maximum size (12 cm) AR marker with ID 200 centered on the screw holes of CARL's top plate. Once this marker is placed and unobstructed, simply launch the calibration node and wait. When the transform is calculated, further instructions will be provided in the terminal where the node was launched.
