MoveIt Calibration

Tools for robot arm hand-eye calibration.

MoveIt Calibration supports ArUco boards and ChArUco boards as calibration targets. Experiments have demonstrated that a ChArUco board gives more accurate results, so it is recommended.

This package was originally developed by Dr. Yu Yan at Intel, and was originally submitted as a PR to the core MoveIt repository. For background, see this Github discussion.

Instructions

Build from Source

mkdir -p ws_moveit/src
cd ws_moveit
git clone https://github.com/ros-planning/moveit_calibration.git -b ros2 src/moveit_calibration
vcs import src < src/moveit_calibration/moveit_calibration.repos --skip-existing
rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Example

For examples, please follow Hand-Eye Calibration tutorial from moveit2_tutorials.

GitHub Actions - Continuous Integration