robot_calibration_msgs¶

Message types¶

• robot_calibration_msgs/CameraParameter
• robot_calibration_msgs/Observation
• robot_calibration_msgs/CalibrationData
• robot_calibration_msgs/ExtendedCameraInfo
• robot_calibration_msgs/CaptureConfig

robot_calibration_msgs/CameraParameter¶

Field:	name (string) – value (float64) –

string name
float64 value

robot_calibration_msgs/Observation¶

Field:	sensor_name (string) – features[] (geometry_msgs/PointStamped) – ext_camera_info (robot_calibration_msgs/ExtendedCameraInfo) – cloud (sensor_msgs/PointCloud2) – image (sensor_msgs/Image) –

Name of the “sensor” that generate this data.

# Name of the "sensor" that generate this data.
string sensor_name

# Features "detected" by the sensor.
geometry_msgs/PointStamped[] features

# Sensor information
ExtendedCameraInfo ext_camera_info

# Debugging data (optional)
sensor_msgs/PointCloud2 cloud
sensor_msgs/Image image

robot_calibration_msgs/CalibrationData¶

Field:	joint_states (sensor_msgs/JointState) – observations[] (robot_calibration_msgs/Observation) –

State of the robot when this data was collected

# State of the robot when this data was collected
sensor_msgs/JointState  joint_states

# Observations, one entry per sensor that is collecting data
Observation[]           observations

robot_calibration_msgs/ExtendedCameraInfo¶

Field:	camera_info (sensor_msgs/CameraInfo) – parameters[] (robot_calibration_msgs/CameraParameter) –

sensor_msgs/CameraInfo  camera_info
CameraParameter[]       parameters

robot_calibration_msgs/CaptureConfig¶

Field:	joint_states (sensor_msgs/JointState) – features[] (string) –

Pose the robot should be put in for this sample

# Pose the robot should be put in for this sample
sensor_msgs/JointState joint_states

# Names of feature detectors to use for this sample
string[] features

Action types¶

• robot_calibration_msgs/GripperLedCommand

robot_calibration_msgs/GripperLedCommand¶

Field (Goal):	led_code (uint8) –

This action is used to flash a sequence with LEDs, which can then be detected by calibration

# This action is used to flash a sequence with LEDs, which can then be detected by calibration

uint8 led_code

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