hand-eye-calibration

Hand-eye calibration in ROS2 is performed by executing the calibrate.launch.py file in your workspace, which guides you through environment setup, pose collection, and accuracy verification using a D455f camera and Doosan e0509 robot.

Hand-eye calibration determines the spatial relationship between a camera and a robot arm. You need it for precise robotic manipulation tasks, such as in assembly lines or automated manufacturing, where accurate camera-robot arm coordination is essential.

Yes, the calibration process is specifically designed for the Doosan e0509 robot and D455f camera. It relies on the realsense-ros and doosan-robot2 dependencies to ensure compatibility and accurate pose collection within the ROS2 environment.

To configure and verify hand-eye calibration accuracy, you adjust the parameters in the hand_eye.yaml file according to your setup, then run the verification guidelines provided to check the calibration results for your robotic system.

Before starting ROS2 hand-eye calibration, you need the easy_handeye2, realsense-ros, and doosan-robot2 dependencies installed in your workspace. These packages provide the necessary drivers and calibration algorithms for the camera and robot arm.