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fmessmerfmessmer
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Merge pull request #169 from fmessmer/add_cob4-30_ostwestfalen
add cob4-30 ostwestfalen
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‎cob4-30/calibration/calibration_offset.urdf.xacro

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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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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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<xacro:property name="offset_laser_front_x" value="0.0"/>
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<xacro:property name="offset_laser_front_y" value="0.0"/>
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<xacro:property name="offset_laser_front_z" value="0.0"/>
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<xacro:property name="offset_laser_front_roll" value="0.0"/>
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<xacro:property name="offset_laser_front_pitch" value="0.0"/>
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<xacro:property name="offset_laser_front_yaw" value="0.0"/>
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<!-- laser left mount positions | relative to base_link -->
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<xacro:property name="offset_laser_left_x" value="0.0"/>
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<xacro:property name="offset_laser_left_y" value="0.0"/>
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<xacro:property name="offset_laser_left_z" value="0.0"/>
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<xacro:property name="offset_laser_left_roll" value="0.0"/>
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<xacro:property name="offset_laser_left_pitch" value="0.0"/>
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<xacro:property name="offset_laser_left_yaw" value="0.0"/>
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<!-- laser right mount positions | relative to base_link -->
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<xacro:property name="offset_laser_right_x" value="0.0"/>
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<xacro:property name="offset_laser_right_y" value="0.0"/>
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<xacro:property name="offset_laser_right_z" value="0.0"/>
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<xacro:property name="offset_laser_right_roll" value="0.0"/>
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<xacro:property name="offset_laser_right_pitch" value="0.0"/>
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<xacro:property name="offset_laser_right_yaw" value="0.0"/>
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<!-- *********************** -->
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- torso mount positions | relative to base_link -->
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<xacro:property name="offset_torso_x" value="0.0"/>
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<xacro:property name="offset_torso_y" value="0.0"/>
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<xacro:property name="offset_torso_z" value="0.0"/>
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<xacro:property name="offset_torso_roll" value="0.0"/>
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<xacro:property name="offset_torso_pitch" value="0.0"/>
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<xacro:property name="offset_torso_yaw" value="0.0"/>
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<!-- head mount positions | relative to torso_3_link -->
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<xacro:property name="offset_head_x" value="0.0"/>
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<xacro:property name="offset_head_y" value="0.0"/>
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<xacro:property name="offset_head_z" value="0.0"/>
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<xacro:property name="offset_head_roll" value="0.0"/>
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<xacro:property name="offset_head_pitch" value="0.0"/>
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<xacro:property name="offset_head_yaw" value="0.0"/>
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<!-- sensorring mount positions | relative to head_3_link -->
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<xacro:property name="offset_sensorring_x" value="0.0"/>
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<xacro:property name="offset_sensorring_y" value="0.0"/>
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<xacro:property name="offset_sensorring_z" value="0.0"/>
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<xacro:property name="offset_sensorring_roll" value="0.0"/>
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<xacro:property name="offset_sensorring_pitch" value="0.0"/>
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<xacro:property name="offset_sensorring_yaw" value="0.0"/>
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<!-- arm right mount positions | relative to torso_3_link -->
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<xacro:property name="offset_arm_right_x" value="0.0"/>
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<xacro:property name="offset_arm_right_y" value="0.0"/>
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<xacro:property name="offset_arm_right_z" value="0.0"/>
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<xacro:property name="offset_arm_right_roll" value="0.0"/>
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<xacro:property name="offset_arm_right_pitch" value="0.0"/>
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<xacro:property name="offset_arm_right_yaw" value="0.0"/>
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<!-- arm left mount positions | relative to torso_3_link -->
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<xacro:property name="offset_arm_left_x" value="0.0"/>
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<xacro:property name="offset_arm_left_y" value="0.0"/>
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<xacro:property name="offset_arm_left_z" value="0.0"/>
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<xacro:property name="offset_arm_left_roll" value="0.0"/>
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<xacro:property name="offset_arm_left_pitch" value="0.0"/>
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<xacro:property name="offset_arm_left_yaw" value="0.0"/>
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<!-- gripper right mount positions | relative to arm_7_link -->
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<xacro:property name="offset_gripper_right_x" value="0.0"/>
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<xacro:property name="offset_gripper_right_y" value="0.0"/>
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<xacro:property name="offset_gripper_right_z" value="0.0"/>
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<xacro:property name="offset_gripper_right_roll" value="0.0"/>
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<xacro:property name="offset_gripper_right_pitch" value="0.0"/>
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<xacro:property name="offset_gripper_right_yaw" value="0.0"/>
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<!-- gripper left mount positions | relative to arm_7_link -->
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<xacro:property name="offset_gripper_left_x" value="0.0"/>
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<xacro:property name="offset_gripper_left_y" value="0.0"/>
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<xacro:property name="offset_gripper_left_z" value="0.0"/>
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<xacro:property name="offset_gripper_left_roll" value="0.0"/>
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<xacro:property name="offset_gripper_left_pitch" value="0.0"/>
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<xacro:property name="offset_gripper_left_yaw" value="0.0"/>
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<!-- ***************************** -->
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<!-- extrinsic camera calibration -->
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<!-- ***************************** -->
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<!-- torso cam3d left mount positions | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_left_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_yaw" value="0.0"/>
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<!-- torso cam3d right mount positions | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_right_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_yaw" value="0.0"/>
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<!-- torso cam3d down mount positions | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_down_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_yaw" value="0.0"/>
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<!-- sensorring cam3d mount positions | relative to sensorring_link -->
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<xacro:property name="offset_sensorring_cam3d_x" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_y" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_z" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_roll" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_pitch" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_yaw" value="0.0"/>
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<!-- head cam mount positions | relative to head_3_link -->
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<xacro:property name="offset_head_cam_x" value="0.0"/>
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<xacro:property name="offset_head_cam_y" value="0.0"/>
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<xacro:property name="offset_head_cam_z" value="0.0"/>
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<xacro:property name="offset_head_cam_roll" value="0.0"/>
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<xacro:property name="offset_head_cam_pitch" value="0.0"/>
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<xacro:property name="offset_head_cam_yaw" value="0.0"/>
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</robot>

‎cob4-30/calibration/cameras/head_cam.yaml

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image_width: 1280
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image_height: 960
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camera_name: head_cam
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camera_matrix:
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rows: 3
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cols: 3
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data: [912.899608, 0.000000, 640.420778, 0.000000, 917.520761, 502.479759, 0.000000, 0.000000, 1.000000]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.373478, 0.112529, -0.000921, -0.002183, 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: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
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projection_matrix:
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rows: 3
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cols: 4
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data: [700.806335, 0.000000, 632.696581, 0.000000, 0.000000, 809.140137, 508.162883, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

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