Ensenso extrinsic calibration

This is a ROS package of a Fanuc R1000iA 80f with a grinding end effector and a 3D sensor mounted on the end effector. This package allows to automatically calibrate the Ensenso on the robot by moving around a target.

This video shows the calibration on the real robot. The tutorial folder contains explanations about how to use this package.

Directories in the project

Directory	Description
documentation	Contains the documentation / tutorial
ensenso_extrinsic_calibration	Contains the meta-package files
ensenso_rviz_plugin	Contains the definition of an RViz panel
grinding_ensenso_extrinsic_calibration	Contains a node and a service definition for the calibration

Dependencies

• Robot Operating System
• industrial-core
• fanuc ⚠️ Joint limits have been tweaked
• fanuc_experimental ⚠️ Joint limits have been tweaked
• institut_maupertuis_robots_descriptions

This package has been tested with Ubuntu 14.04 and ROS Indigo. The package was designed to be used with a Fanuc R1000iA 80f robot however it should be easy to port it on other ROS compatible robots; refer to the last section.

Install

Install the dependencies by following the wiki instructions and cloning the repositories into your catkin workspace.

cd to your catkin workspace source directory:

git clone https://github.com/InstitutMaupertuis/ensenso_extrinsic_calibration.git &&\
cd .. &&\
catkin_make

Launching

Refer to the tutorial.

Changing the setup

If you want to use this package with an other robot, an other end effector or an other camera setup (eg: camera is fixed) this is what you should care about:

• Change the calibration.launch file to match your robot definition.
• Define the ensenso_n10 manipulator in your MoveIt package and ensenso_n10_tcp frame, another option is to change them in the node.
• Change the calibration parameters in the node (eg: fixed instead of moving)