ArcosWiki

WARNING! This tutorial assumes that you have an advanced knowledge of: git, linux, ROS1, YARP, Python, KUKA arm, FRI, Robot Kinematics

This tutorial was created by Daniel García Vaglio. If you have any questions about this tutorial or about the calibration process ask him.

• You need to install ROS1 and YARP.
• Clone repository oms-cylinder and follow the README for installation instructions
• Install the Humanoid Robot Simulator
• Clone the keyboard-cart-control repository in ~/local/src
• Install and setup FRI
• Attach the calibration board to the robot.

TODO: Add an explanation of the process and why we do things the way we do them

• Turn on the KUKA arm and set it up with FRI for being used from a Linux Computer.
• Execute a YARP server
• Continue until the bridge and vfclik are running and talking to the robot using FRI.
• Go to ~/local/src/keyboard_cart_control, and execute the following command:

python keyboard_cart_control.py -n /arcosbot-real

• Execute the realsense viewer with the following command:

realsense-viewer

• Move the arm so that the calibration board is inside the field of view of the camera.
• Press i to store this first pose.
• press y to activate automatic pose storage.
• Move the arm in such a way that the calibration board is always visible to the camera. Be careful not to reach singularities.
• Press u to see how many poses have been stored. We want around 2500 poses.
• When you are done, press o to save the poses to a csv file.