#!/usr/bin/env python2.7
import rospy
import tf2_ros
import geometry_msgs.msg
from easy_handeye.handeye_calibration import HandeyeCalibration
rospy.init_node('handeye_calibration_publisher')
while rospy.get_time() == 0.0:
pass
inverse = rospy.get_param('inverse')
calib = HandeyeCalibration.from_file(rospy.get_namespace())
if calib.parameters.eye_on_hand:
overriding_robot_effector_frame = rospy.get_param('robot_effector_frame')
if overriding_robot_effector_frame != "":
calib.transformation.header.frame_id = overriding_robot_effector_frame
else:
overriding_robot_base_frame = rospy.get_param('robot_base_frame')
if overriding_robot_base_frame != "":
calib.transformation.header.frame_id = overriding_robot_base_frame
overriding_tracking_base_frame = rospy.get_param('tracking_base_frame')
if overriding_tracking_base_frame != "":
calib.transformation.child_frame_id = overriding_tracking_base_frame
rospy.loginfo('loading calibration parameters into namespace {}'.format(
rospy.get_namespace()))
HandeyeCalibration.store_to_parameter_server(calib)
#!/usr/bin/env python2
import rospy
from tf import TransformBroadcaster, TransformerROS, transformations as tfs
from geometry_msgs.msg import Transform
from easy_handeye.handeye_calibration import HandeyeCalibration
rospy.init_node('handeye_calibration_publisher')
while rospy.get_time() == 0.0:
pass
inverse = rospy.get_param('inverse')
calib = HandeyeCalibration()
calib.from_file()
if calib.eye_on_hand:
overriding_robot_effector_frame = rospy.get_param('robot_effector_frame')
if overriding_robot_effector_frame != "":
calib.transformation.header.frame_id = overriding_robot_effector_frame
else:
overriding_robot_base_frame = rospy.get_param('robot_base_frame')
if overriding_robot_base_frame != "":
calib.transformation.header.frame_id = overriding_robot_base_frame
overriding_tracking_base_frame = rospy.get_param('tracking_base_frame')
if overriding_tracking_base_frame != "":
calib.transformation.child_frame_id = overriding_tracking_base_frame
rospy.loginfo('loading calibration parameters into namespace {}'.format(
rospy.get_namespace()))
calib.to_parameters()