From 486edf48ead4f0bd127b359c341d5c429c69c133 Mon Sep 17 00:00:00 2001 From: HiroIshida Date: Sun, 15 Dec 2024 03:36:52 +0900 Subject: [PATCH] Add readme --- .../pr2_hand_apriltag/README.md | 28 ++++++++++++++++++ .../docs_image/side_view.jpg | Bin 0 -> 38327 bytes .../pr2_hand_apriltag/docs_image/top_view.jpg | Bin 0 -> 41447 bytes 3 files changed, 28 insertions(+) create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/README.md create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/docs_image/side_view.jpg create mode 100644 jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/docs_image/top_view.jpg diff --git a/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/README.md b/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/README.md new file mode 100644 index 0000000000..10c1c70316 --- /dev/null +++ b/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/README.md @@ -0,0 +1,28 @@ +## Motivation +PR2's calibrations (intrinsics/extrinsics/kinematics) are very challenging. +A simple but effective workaround is to attach markers to the PR2's gripper and compare the pose calculated by nominal kinematics with the detected pose. +We have been using yellow tape as markers, but it's difficult to maintain their position and orientation consistently. +Therefore, we decided to create a 3D-printed tag plate for the PR2's gripper. + +## Requirements +Software: +```bash +sudo apt install texlive-base openscad +``` +Hardware: +- スペーサM3オスメス六角10mm (x2) (Recommended to use plastic spacers to not damage the aluminum lid) +- 六角穴付きボルトM3-10mm (x2) + +## Assebly instructions +- Then run `make` command in this directory. +- Print the generated PDF file under `build/april_tag_print.pdf` +- 3D print the generated STL file under `build/tag_plate.stl` +- Remove the two bolts from the lid of PR2's gripper's back side. Don't remove the lid. +- Attach the printed tag plate to the lid using the two bolts with the spacers. +- Paste the printed tag on the tag plate. The printed tag size is supposed to be exactly equal to the tag plate size. + +See the images under [./docs_image/](docs_image/) for the reference. + +## Example usage +- launch `example/kinect_april_tag_detection.launch` inside PR2's machine. +- Check tf tree to see `april` frame. diff --git a/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/docs_image/side_view.jpg b/jsk_pr2_robot/jsk_pr2_accessories/pr2_hand_apriltag/docs_image/side_view.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b9eca0ed29b982418cd9c40f7e99a8083859ec9d GIT binary patch literal 38327 zcmcG$cR*8F*DrjM&_sF_1k3(?-@dxZv!X+cnMNL0je^PkZ!u5M`FS3iCSzIMtdG7NtI z9~$_*kCWTK3bEAxhkO2?PVeybi}V3Etb&(v1o&|8**zu8@BJTrpRfq{{tR%BQSdL(@NdBl=97S5h@(At=L0V}C=xmj znL|Ir^n=f!g_c8*!6pQuuKsh*y8wdjT!Nro)Bl`Pra_SKMF_e*^3S<{coKFh;?(wV z@aiD_!J4gALy({=1c{GA5dVqoYvAxd%nc1L$$@!=g1-Rh7swAnLr0+y$OqB@Jsn63 z(uNLxpG6f1Mn#3;G&MsaHBR}4di!bkga&KIo(j{{*3i;~jAC)I!C}FEQK!(c!M}t= 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