aubo_i5 Kinect2 手眼标定

http://wiki.ros.org/turtlebot_kinect_arm_calibration/Tutorials/CalibratingKinectToTurtleBotArm

实现步骤主要参考：UR5、Kinect2手眼标定总结

我的aubo_i5_kinect_calibration.launch文件:

<launch>
    <arg name="namespace_prefix" default="aubo_i5_kinect_handeyecalibration" />

    <arg name="robot_ip" doc="The IP address of the UR5 robot" default="169.254.3.20"/>

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.1"/>
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="582"/>

    <!-- start the Kinect -->
    <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" >
        <!--<arg name="depth_registration" value="true" /-->
    </include>

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/kinect2/hd/camera_info" />
        <remap from="/image" to="/kinect2/hd/image_color" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="kinect2_rgb_optical_frame"/>
        <param name="camera_frame"       value="kinect2_rgb_optical_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- start the robot -->
    <include file="$(find aubo_i5_moveit_config)/launch/moveit_planning_execution.launch">
    </include>

    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="false" />

        <arg name="tracking_base_frame" value="kinect2_rgb_optical_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="wrist3_Link" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
        
        <arg name="move_group" value="manipulator_i5" />

    </include>

</launch>