int main(int argc, char** argv) {
init(argc, argv, "JointUpdateNode");
NodeHandle nh;
// get the filenames
nh.param(string("joint_offsets_filename_suffix"), jointOffsetsFilename,
string("calibration_joint_offsets.xacro"));
nh.param(string("camera_transform_filename_suffix"),
cameraTransformFilename,
string("calibration_camera_transform.xacro"));
nh.param(string("urdf_filename_suffix"), urdfFilename,
string("robot_model_calibrated.xml"));
nh.param(string("marker_transforms_filename_suffix"),
markerTransformsFilename,
string("calibration_marker_transformations.xacro"));
nh.param(string("camera_intrnsics_filename"), cameraIntrnsicsFilename,
string("nao_bottom_640x480.yaml"));
ModelLoader modelLoader;
modelLoader.initializeFromRos();
urdf::Model model;
modelLoader.getUrdfModel(model);
// get the robot name and prepend to the filenames
string filePrefix = model.getName();
jointOffsetsFilename = filePrefix + "_" + jointOffsetsFilename;
cameraTransformFilename = filePrefix + "_" + cameraTransformFilename;
urdfFilename = filePrefix + "_" + urdfFilename;
markerTransformsFilename = filePrefix + "_" + markerTransformsFilename;
Subscriber sub = nh.subscribe("/onlineCalibration/calibration_result",
1, resultCb);
spin();
return 0;
}
void resultCb(const calibrationResultConstPtr& msg) {
ModelLoader modelLoader;
modelLoader.initializeFromRos();
urdf::Model model;
modelLoader.getUrdfModel(model);
// write the parameter file for the joint offsets
map<string, double> offsets;
for (int i = 0; i < msg->jointNames.size(); i++) {
offsets[msg->jointNames[i]] = msg->jointOffsets[i];
}
JointUpdate ju(model);
ju.writeCalibrationData(offsets, jointOffsetsFilename);
// write the parameter file for the camera transformation
tf::Transform transform;
tf::transformMsgToTF(msg->cameraTransform, transform);
CameraTransformUpdate ctu(model);
ctu.writeCalibrationData(transform, cameraTransformFilename);
// write the new urdf file
UrdfUpdate urdfUpdate;
urdfUpdate.readFromRos("/robot_description");
urdfUpdate.updateJointOffsets(offsets);
urdfUpdate.updateCameraDeltaTransform(transform);
urdfUpdate.writeToFile(urdfFilename);
ROS_INFO("No transformation found from %s to %s!", markerTransformsFilename.c_str());
// print the marker transformation on the screen and as parameters in a file
// TODO: move into own class?
// TODO: also update urdf...
ofstream file;
file.open(markerTransformsFilename.c_str());
file << "<?xml version=\"1.0\"?>\n";
file << "<robot>\n";
for (int i = 0; i < msg->chainNames.size(); i++) {
double rr, rp, ry, tx, ty, tz;
tf::Transform current;
tf::transformMsgToTF(msg->endeffectorToMarker[i], current);
current = current.inverse();
tf::Matrix3x3(current.getRotation()).getRPY(rr, rp, ry);
tx = current.getOrigin().getX();
ty = current.getOrigin().getY();
tz = current.getOrigin().getZ();
cout << "chain: " << msg->chainNames[i] << "\n";
cout << "translation: " << tx << " " << ty << " " << tz << "\n";
cout << "rotation: " << rr << " " << rp << " " << ry << "\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_tx"
<< "\" value=\"" << tx << "\" />\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_ty"
<< "\" value=\"" << ty << "\" />\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_tz"
<< "\" value=\"" << tz << "\" />\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_rr"
<< "\" value=\"" << rr << "\" />\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_rp"
<< "\" value=\"" << rp << "\" />\n";
file << "\t<property name=\"" << msg->chainNames[i] << "_marker_ry"
<< "\" value=\"" << ry << "\" />\n";
}
file << "</robot>\n";
file.close();
// write camera intrinsics
const string cameraName = "nao_camera";
camera_calibration_parsers::writeCalibrationYml(cameraIntrnsicsFilename,
cameraName, msg->cameraInfo);
}