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Florian Weisshardt
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Merge pull request #81 from ipa-cob3-2/indigo_dev
added cob3-2
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‎CMakeLists.txt

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@@ -6,6 +6,7 @@ find_package(catkin REQUIRED )
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catkin_package()
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set(robotlist
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cob3-2
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cob3-6
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cob3-9
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cob4-1

‎cob3-2/calibration/calibration_offset.urdf.xacro

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<?xml version="1.0"?>
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<robot>
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<!-- ***************** -->
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<!-- base calibration -->
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<!-- ***************** -->
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<!-- laser front mount positions | relative to base_link -->
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<property name="offset_laser_front_x" value="0.0"/>
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<property name="offset_laser_front_y" value="0.0"/>
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<property name="offset_laser_front_z" value="0.0"/>
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<property name="offset_laser_front_roll" value="0.0"/>
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<property name="offset_laser_front_pitch" value="0.0"/>
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<property name="offset_laser_front_yaw" value="0.0"/>
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<!-- laser rear mount positions | relative to base_link -->
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<property name="offset_laser_rear_x" value="0.0"/>
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<property name="offset_laser_rear_y" value="0.0"/>
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<property name="offset_laser_rear_z" value="0.0"/>
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<property name="offset_laser_rear_roll" value="0.0"/>
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<property name="offset_laser_rear_pitch" value="0.0"/>
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<property name="offset_laser_rear_yaw" value="0.0"/>
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<!-- laser top mount positions | relative to base_link -->
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<property name="offset_laser_top_x" value="0.0"/>
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<property name="offset_laser_top_y" value="0.0"/>
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<property name="offset_laser_top_z" value="0.0"/>
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<property name="offset_laser_top_roll" value="0.0"/>
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<property name="offset_laser_top_pitch" value="0.0"/>
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<property name="offset_laser_top_yaw" value="0.0"/>
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<!-- *********************** -->
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- tray mount positions | relative to base_link -->
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<property name="offset_tray_x" value="0.0"/>
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<property name="offset_tray_y" value="0.0"/>
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<property name="offset_tray_z" value="0.0"/>
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<property name="offset_tray_roll" value="0.0"/>
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<property name="offset_tray_pitch" value="0.0"/>
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<property name="offset_tray_yaw" value="0.0"/>
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<!-- torso mount positions | relative to base_link -->
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<property name="offset_torso_x" value="0.0"/>
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<property name="offset_torso_y" value="0.0"/>
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<property name="offset_torso_z" value="0.0"/>
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<property name="offset_torso_roll" value="0.0"/>
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<property name="offset_torso_pitch" value="0.0"/>
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<property name="offset_torso_yaw" value="0.0"/>
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<!-- head mount positions | relative to head_cover_link -->
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<property name="offset_head_x" value="0.0"/>
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<property name="offset_head_y" value="0.0"/>
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<property name="offset_head_z" value="0.0"/>
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<property name="offset_head_roll" value="0.0"/>
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<property name="offset_head_pitch" value="0.0"/>
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<property name="offset_head_yaw" value="0.0"/>
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<!-- arm mount positions | relative to base_link -->
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<property name="offset_arm_x" value="0.0"/>
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<property name="offset_arm_y" value="0.0"/>
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<property name="offset_arm_z" value="0.0"/>
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<property name="offset_arm_roll" value="0.0"/>
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<property name="offset_arm_pitch" value="0.0"/>
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<property name="offset_arm_yaw" value="0.0"/>
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<!-- sdh mount positions | relative to arm_7_link -->
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<property name="offset_sdh_x" value="0.0"/>
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<property name="offset_sdh_y" value="0.0"/>
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<property name="offset_sdh_z" value="0.0"/>
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<property name="offset_sdh_roll" value="0.0"/>
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<property name="offset_sdh_pitch" value="0.0"/>
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<property name="offset_sdh_yaw" value="0.0"/>
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<!-- *********************************** -->
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<!-- kinematic chain reference positions -->
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<!-- *********************************** -->
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<!-- torso chain calibration_offest! | relative to reference position (see below)-->
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<!-- torso reference positions | used as calibration_rising for torso chain -->
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<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
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<property name="offset_torso_lower_neck_pan_ref" value="0.0" />
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<property name="offset_torso_lower_neck_tilt_ref" value="0.0" />
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<property name="offset_torso_upper_neck_pan_ref" value="0.0" />
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<property name="offset_torso_upper_neck_tilt_ref" value="0.0" />
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<!-- tray reference position | used as calibration_rising for tray chain -->
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<property name="offset_tray_ref" value="0.0"/>
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<!-- head camera axis reference position | used as calibration_rising for head axis chain -->
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<property name="offset_head_axis_ref" value="0.0"/>
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<!-- arm reference positions | used as calibration_rising for arm chain-->
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<property name="offset_arm_1_ref" value="0.0"/>
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<property name="offset_arm_2_ref" value="0.0"/>
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<property name="offset_arm_3_ref" value="0.0"/>
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<property name="offset_arm_4_ref" value="0.0"/>
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<property name="offset_arm_5_ref" value="0.0"/>
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<property name="offset_arm_6_ref" value="0.0"/>
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<property name="offset_arm_7_ref" value="0.0"/>
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<!-- ***************************** -->
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<!-- camera calibration properties -->
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<!-- ***************************** -->
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<!-- left | handeye calibration | relative to head_axis_link -->
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<property name="offset_cam_reference_x" value="0.0"/>
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<property name="offset_cam_reference_y" value="0.0"/>
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<property name="offset_cam_reference_z" value="0.0"/>
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<property name="offset_cam_reference_roll" value="0.0"/>
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<property name="offset_cam_reference_pitch" value="0.0"/>
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<property name="offset_cam_reference_yaw" value="0.0"/>
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<!-- left | handeye calibration | relative to cam_reference_link -->
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<property name="offset_cam_l_x" value="0.0"/>
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<property name="offset_cam_l_y" value="0.0"/>
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<property name="offset_cam_l_z" value="0.0"/>
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<property name="offset_cam_l_roll" value="0.0"/>
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<property name="offset_cam_l_pitch" value="0.0"/>
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<property name="offset_cam_l_yaw" value="0.0"/>
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<!-- right | stereo baseline calibration | relative to cam_reference_link -->
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<property name="offset_cam_r_x" value="0.0"/>
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<property name="offset_cam_r_y" value="0.0"/>
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<property name="offset_cam_r_z" value="0.0"/>
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<property name="offset_cam_r_roll" value="0.0"/>
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<property name="offset_cam_r_pitch" value="0.0"/>
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<property name="offset_cam_r_yaw" value="0.0"/>
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<!-- cam3d | handeye calibration | relative to cam_reference_link -->
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<property name="offset_cam3d_x" value="0.0"/>
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<property name="offset_cam3d_y" value="0.0"/>
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<property name="offset_cam3d_z" value="0.0"/>
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<property name="offset_cam3d_roll" value="0.0"/>
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<property name="offset_cam3d_pitch" value="0.0"/>
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<property name="offset_cam3d_yaw" value="0.0"/>
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</robot>

‎cob3-2/calibration/cameras/kinect_rgb.yaml

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image_width: 640
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image_height: 480
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camera_name: right
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camera_matrix:
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rows: 3
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cols: 3
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data: [523.631759, 0.000000, 318.246486, 0, 522.575452, 258.087160, 0, 0, 1]
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [0.208697, -0.445622, 0.000089, 0.002746, 0.000000]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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projection_matrix:
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rows: 3
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cols: 4
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data: [523.631759, 0.000000, 318.246486, 0, 0, 522.575452, 258.087160, 0, 0, 0, 1, 0]
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‎cob3-2/calibration/cameras/left.yaml

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# calibrated by fmw-sh 2011-11-23
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frame_id: /head_color_camera_l_link
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camera_name: left
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image_width: 1360
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image_height: 1024
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camera_matrix:
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rows: 3
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cols: 3
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data: [1449.8064925037399, 0.0, 668.48985878172368, 0.0, 1446.3381928151425, 505.65109662328473, 0.0, 0.0, 1.0]
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.26218191268191987, 0.22010918250226594, -0.00087455595647544155, -0.0014450290912924274, 0.0]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [0.99946154753025884, 0.0061274804420019474, -0.03223459309271471, -0.0060751475556714901, 0.99998006484204727, 0.0017211916429596243, 0.032244497059139038, -0.0015244349536333007, 0.99947884845427082]
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projection_matrix:
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rows: 3
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cols: 4
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data: [1445.0754772876219, 0.0, 727.31310272216797, 0.0, 0.0, 1445.0754772876219, 514.64495849609375, 0.0, 0.0, 0.0, 1.0, 0.0]

‎cob3-2/calibration/cameras/right.yaml

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# calibrated by fmw-sh 2011-11-23
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frame_id: /head_color_camera_r_link
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camera_name: right
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image_width: 1360
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image_height: 1024
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camera_matrix:
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rows: 3
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cols: 3
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data: [1455.6920112700718, 0.0, 694.67822264024619, 0.0, 1453.2233437057853, 524.85605264094193, 0.0, 0.0, 1.0]
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.26755287977483744, 0.23161829882891574, -0.00040216170902122753, -0.0016719974341232922, 0.0]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [0.99964851669086408, -0.0057738389956017789, -0.025874811323136515, 0.0057318320573133659, 0.99998213240522449, -0.0016973425012992034, 0.0258841491848158, 0.0015484358407212243, 0.99966375005169883]
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projection_matrix:
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rows: 3
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cols: 4
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data: [1445.0754772876219, 0.0, 727.31310272216797, -174.28898376530282, 0.0, 1445.0754772876219, 514.64495849609375, 0.0, 0.0, 0.0, 1.0, 0.0]

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