Franka+Realsense D435i Ubuntu 20.04-easyHandeye hand-eye calibration

Use Panda + realsense D435i+ easyhandeye+ ROS neotic to record the whole process

Installation

1. install ros
2. Install libfranka
3. Install moveit (panda_moveit_config)
4. install visp
5. Install librealsense
6. Install realsense-ros
7. Install aruco_ros
8. Install easy_hand_eye

configuration link

In the doc of easy_hand_eye, there is a hand-eye calibration launch file for pandas. Copy the file to the launch folder of easy_hand_eye. For the modification of marker and configuration files, see https://zhuanlan.zhihu.com/p/576861119

Operation link

1. After the configuration is successful, first start the ros node of realsense, roslaunch realsense2_camera rs_camera.launch
2. Then run roslaunch easy_handeye panda_realsense_eyeonbase.launch to start