Automated, hardware-independent hand-eye calibration for ROS1 with GUI support for robot vision tasks.
easy_handeye is a ROS1 package that automates hand-eye calibration, computing the transformation between a robot's coordinate frame and a vision tracking system. It solves the problem of accurately aligning robots with cameras or other sensors for tasks like vision-guided manipulation and collision avoidance. The package provides a GUI and supports both eye-in-hand and eye-on-base calibration configurations.
Robotics engineers and researchers working with ROS1 who need to integrate vision systems with robots for precise perception and manipulation tasks.
Developers choose easy_handeye because it offers a hardware-independent, automated solution with a user-friendly GUI, multiple calibration algorithms, and seamless integration with MoveIt! and tf, reducing manual effort and potential errors.
Automated, hardware-independent Hand-Eye Calibration
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Integrates with MoveIt! to automatically generate and execute pose sequences for sampling, reducing manual effort and ensuring consistent data collection, as highlighted in the robot movement integration feature.
Offers a choice of OpenCV hand-eye calibration algorithms (Tsai-Lenz, Park, Horaud, etc.), allowing users to optimize for different scenarios, as noted in the multiple algorithms section.
Provides rqt_easy_handeye for interactive sample management, calibration computation, and accuracy evaluation, making the process user-friendly and accessible, as described in the GUI and evaluator features.
Works with any robot and tracking system that publish tf frames, ensuring broad compatibility without hardware-specific modifications, per the hardware independence philosophy.
Primarily supports ROS1; the ROS2 version is a separate, development project with potential stability issues, limiting use in modern ROS2-based systems.
Requires users to correctly specify tf frames and integrate multiple launch files, which can be error-prone and has a steep learning curve, as evident from the detailed usage instructions.
Designed for static transforms published on startup; not suitable for dynamic environments where calibration needs continuous updates during operation.