[ROSCon 2014] Chris Lewis: ROS-Industrial calibration
The new ROS-Industrial Calibration package provides a suite of calibration capabilities which encapsulate best practices and convenient interfaces to common robot and camera calibration tasks. It is scriptable and flexible to solve arbitrary combinations of multi-view intrinsic and extrinsic parameter optimization problems. It automates calibrations so that users may execute them without requiring significant domain knowledge. Two example calibrations will be described: 1) intrinsic and extrinsic calibration of a camera using a target positioned by a robot; 2) extrinsic calibration of a camera mounted on the end-effector. In both cases, MoveIt! provides collision free motion planning for the robot.