# 手眼標定

參考文章 https://blog.csdn.net/gyxx1998/article/details/122238052

## 前置步驟

### 下載 aruco_ros

https://github.com/pal-robotics/aruco_ros

git clone https://github.com/pal-robotics/aruco_ros.git -b noetic-devel

> -b 可用於指定 branch，這邊下載 noetic-devel 的分支。

### 下載 easy_handeye

https://github.com/IFL-CAMP/easy_handeye

git clone https://github.com/IFL-CAMP/easy_handeye.git

> 還須按照 repo 上的指示（[連結](https://github.com/IFL-CAMP/easy_handeye#getting-started)）安裝 dependencies。

### 新增 Launch File
路徑為 ```src/easy_handeye/easy_handeye/launch/ur3_eye_to_hand_calibration.launch```

<launch>
    <arg name="namespace_prefix" default="ur3_realsense_handeyecalibration" />
    <arg name="robot_ip" doc="The IP address of the UR3 robot" />
    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.05" />
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="582" />

    <!-- 1. start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <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="camera_color_frame"/>
        <param name="camera_frame"       value="camera_color_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- 2. 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="camera_color_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base" />
        <arg name="robot_effector_frame" value="tool0_controller" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>
</launch>

## 實際操作

### 開相機

roslaunch realsense2_camera rs_camera.launch align_depth:=true

### 連線到手臂 & 開 MoveIt!

roslaunch ur_robot_driver ur3_bringup.launch robot_ip:=192.168.86.7

roslaunch ur3_moveit_config moveit_planning_execution.launch limit:=true

### 啟動 aruco_ros 和 easy_handeye

roslaunch easy_handeye ur3_eye_to_hand_calibration.launch