Robot - Sensor Sync
Setup robot - sensor pose synchronisation for arm mounted sensor.
To see correctly synchronised 3D data from moving sensor user needs to setup synchronisation.
Prerequisites
Pose synchronisation is currently supported only in setups where the robot controller (RoboKit) and sensor controller (SenseKit) are running on the same embedded computer.
Overview
To setup pose synchronisation user needs to:
Enable pose synchronisation using SenseKit firmware settings in AMAS.
Perform eye-in-hand calibration (with pose) in AMAS.
The first step adds pose retrieved from the robot to the 3D data sent to AMAS. For example, we want the pose of the end-effector for the sensor mounted on the end-effector joint.
The second step enables the rendering of the 3D data with respect to the pose and calibrates the sensor position with respect to where it is mounted.
Details
Enabling pose sync in SenseKit firmware settings
In a typical scenario, the sensor is mounted on the last robot's joint with the end-effector.
We want the pose of this joint with respect to the robot base to be sent with the 3D data.
Setup the SenseKit firmware settings Pose Sync Settings
as described in Modifying Sensor Settings with:
Reference Frame
set to your robot base (typicallylink_base
)Relative Frame
set to joint where sensor is mounted on robot (typicallylink5
,link6
orlink7
)
Performing eye-in-hand calibration (with pose)
In the previous step, we ensured that the pose of the robot joint that the camera is mounted on will be sent with 3D data. We still need to calibrate where the sensor is with respect to this joint.
Follow the Sensor to Robot Calibrationwith:
Calibration board at some fixed position near the robot arm
Mount type
End Effector with Pose
Perform the calibration.
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