Documentation

This stacks provides tools for calibrating several aspects of the PR2's kinematics. This probably needs to be run only once per robot, unless sensors or mechanical parts are replaced or reattached. Recalibrating camera intrinsics will also most likely require a system recalibration

The following aspects of the PR2 will be calibrated by the pr2_calibration stack

• Forearm camera locations
• Stereocam locations
• Stereocam baselines
• Joint angle offsets (Arms and Head)
• Tilting Laser Location

The following aspects of the PR2 are not calibrated by the pr2_calibration stack

• Location of the PR2's Hi-Res Prosilica head camera
• Camera Intrinsics (Distortion coefficients, Focal Lengths, etc)
• Belt Stretch (deflection due to commanded effort)
• Motor/Joint gear reductions

• Link lengths & Link skew

More information is available at:

• pr2_calibration_executive

• pr2_calibration_estimation

• pr2_calibration_propagation

Calibrating the PR2

Follow instructions in the Calibrating the PR2 Tutorial.

Stability

The only stable API for this stack is the PR2 calibration workflow defined in tutorial above. Expect the internal APIs to change.

Related Publications

The algorithm implemented in this stack is described in the following paper:
Calibrating a Multi-Arm Multi-Sensor Robot: A Bundle Adjustment Approach

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