- Create an approximate transformation between the kinect and jaco (in vision.launch, named 'jaco_kinect')
- Launch jaco_calibration.launch
- Open Rviz
- Make sure the AR Marker can be seen by the kinect by moving the arm and wrist of Jaco
- Check that the tf 'AR_OBJECT' exists (if the marker is not detected, the tf will not exist)
- Copy and paste the resulted transform (printed in the terminal) in vision.launch
roslaunch perception3d vision.launch
rosrun perception3d perception