Stability

This package is still unstable, and does not have a released API.

Scripts

These scripts below have not been released and are still unstable, but we we're still documenting them since they're being used as a part of calibrating the PR2.

propagate_config2.py

This script generates a calibrated URDF by combining an exisiting URDF with the results of pr2_calibration_estimation.

./propagate_config [initial.yaml] [calibrated.yaml] [cal_measurements.bag] [cal_output.xml]

• [initial.yaml] - The system definition before running calibration

• [calibrated.yaml] - The system definition after running calibration

• [cal_measurements.bag] - Bagfile that contains the original URDF. The URDF must be availabe on the topic /robot_description as a std_msgs/String

• [cal_output.xml] - File to which to write the updated URDF

propagate_baseline.py

This script should be run on a running robot in order to update a stereocamera's baseline parameter.

./propagae_baseline.py camera:=[camera_namespace] [calibration_bagfile] [system_filename] [config_camera_name]

• [camera_namespace] - Ros name to prepend onto the call to set_calibration"

• [config_filename] - yaml file that stores the baseline shift"

• [config_camera_name] - Name of the camera in the system definition file. Tells script which baseline shift to use"