pr2 joint calibration #47

HiroIshida · 2023-11-18T22:27:53Z

下調べ

google groups 情報

https://groups.google.com/g/pr2_users/c/QpReAo30eeA?pli=1

full system calibration

https://wiki.ros.org/pr2_calibration/Tutorials/Calibrating%20the%20PR2
urdfの書き換えによってcalibrationをしている.
https://www.youtube.com/watch?v=TwL4xqBLUdo
動画によるとnonlinear optimizatoinといっているのでfkといて最小二乗法でもしているのだろう
joint calibrationだけしたくて, cameraはskipしたいのだが, それはできる??

github package

https://github.com/PR2/pr2_calibration/blob/kinetic-devel/pr2_se_calibration_launch/capture_data/pr2_se_exec.py#L142

urdf推定する部分
./pr2_calibration_launch/estimate_params/estimate_pr2_beta_urdf.sh
https://github.com/PR2/pr2_calibration/blob/kinetic-devel/pr2_calibration_launch/estimate_params/estimate_pr2_beta_urdf.sh

最適化部分はros_perception/calibrationを使っている
https://github.com/ros-perception/calibration/blob/hydro/calibration_estimation/src/calibration_estimation/multi_step_cov_estimator.py
package.xmlのdescriptionにもこうかいてある

  <description>
    Runs an optimization to estimate the a robot's kinematic parameters. This package is a
    generic rewrite of pr2_calibration_estimation.
  </description>

The text was updated successfully, but these errors were encountered:

HiroIshida · 2023-11-20T06:30:12Z

calibration launchのpythonがnoeticでreleaseされてるのに, python2 でかかれている.
2to3で修正 HiroIshida/calibration@9c433b6

HiroIshida · 2023-11-20T06:32:32Z

pr2のurdfが読めないというエラーがでてくる

Unknown attribute "type" in /robot[@name='pr2']/link[@name='base_laser_link']
Unknown tag "simulated_actuated_joint" in /robot[@name='pr2']/transmission[@name='torso_lift_trans']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='wide_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='narrow_stereo_optical_frame']
Unknown attribute "type" in /robot[@name='pr2']/link[@name='laser_tilt_link']
Unknown tag "compensator" in /robot[@name='pr2']/transmission[@name='r_shoulder_pan_trans']
Unknown tag "compensator" in /robot[@name='pr2']/transmission[@name='r_shoulder_lift_trans']
Traceback (most recent call last):
  File "/home/applications/ishida_ws/src/calibration/calibration_launch/scripts/capture_exec.py", line 321, in <module>
    executive = CaptureExecutive(config_dir, system, robot_description)
  File "/home/applications/ishida_ws/src/calibration/calibration_launch/scripts/capture_exec.py", line 73, in __init__
    links = list(URDF().parse(robot_desc).link_map.keys())
  File "/opt/ros/noetic/lib/python3/dist-packages/urdf_parser_py/xml_reflection/core.py", line 669, in parse
    self.read_xml(node, path)
  File "/opt/ros/noetic/lib/python3/dist-packages/urdf_parser_py/xml_reflection/core.py", line 598, in read_xml
    self.XML_REFL.set_from_xml(self, node, path)
  File "/opt/ros/noetic/lib/python3/dist-packages/urdf_parser_py/xml_reflection/core.py", line 513, in set_from_xml
    element.add_from_xml(obj, child, element_path)
  File "/opt/ros/noetic/lib/python3/dist-packages/urdf_parser_py/xml_reflection/core.py", line 390, in add_from_xml
    value = self.value_type.from_xml(node, path)
  File "/opt/ros/noetic/lib/python3/dist-packages/urdf_parser_py/xml_reflection/core.py", line 283, in from_xml
    raise ParseError(Exception(out), path)
urdf_parser_py.xml_reflection.core.ParseError: ParseError in /robot[@name='pr2']/transmission[@name='r_wrist_trans']:
Could not perform duck-typed parsing.
Value Type: <class 'urdf_parser_py.urdf.Transmission'>
Exception: ParseError in /robot[@name='pr2']/transmission[@name='r_wrist_trans']:
Required element not set in XML: type

[calibration_exec-59] process has died [pid 1628407, exit code 1, cmd /home/applications/ishida_ws/src/calibration/calibration_launch/scripts/capture_exec.py /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/capture_data/samples_pr2_beta /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/capture_data/hardware_config /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/estimate_params/config_pr2_beta/system.yaml kinect_head/camera_info:=kinect_head/rgb/camera_info kinect_head/image_rect:=kinect_head/rgb/image_mono kinect_head/image:=kinect_head/rgb/image_mono kinect_head/features:=kinect_head/rgb/features kinect_torso/camera_info:=kinect_torso/rgb/camera_info kinect_torso/image_rect:=kinect_torso/rgb/image_mono kinect_torso/image:=kinect_torso/rgb/image_mono kinect_torso/features:=kinect_torso/rgb/features prosilica_rect/camera_info:=prosilica/camera_info prosilica_rect/image_rect:=prosilica/image_rect prosilica_rect/image:=prosilica/image_raw prosilica_rect/features:=prosilica/features narrow_left_rect/camera_info:=narrow_stereo/left/camera_info narrow_left_rect/image_rect:=narrow_stereo/left/image_rect narrow_left_rect/image:=narrow_stereo/left/image_raw narrow_left_rect/features:=narrow_stereo/left/features narrow_right_rect/camera_info:=narrow_stereo/right/camera_info narrow_right_rect/image_rect:=narrow_stereo/right/image_rect narrow_right_rect/image:=narrow_stereo/right/image_raw narrow_right_rect/features:=narrow_stereo/right/features wide_left_rect/camera_info:=wide_stereo/left/camera_info wide_left_rect/image_rect:=wide_stereo/left/image_rect wide_left_rect/image:=wide_stereo/left/image_raw wide_left_rect/features:=wide_stereo/left/features wide_right_rect/camera_info:=wide_stereo/right/camera_info wide_right_rect/image_rect:=wide_stereo/right/image_rect wide_right_rect/image:=wide_stereo/right/image_raw wide_right_rect/features:=wide_stereo/right/features forearm_right_rect/camera_info:=r_forearm_cam/camera_info forearm_right_rect/image_rect:=r_forearm_cam/image_rect forearm_right_rect/image:=r_forearm_cam/image_raw forearm_right_rect/features:=r_forearm_cam/features forearm_left_rect/camera_info:=l_forearm_cam/camera_info forearm_left_rect/image_rect:=l_forearm_cam/image_rect forearm_left_rect/image:=l_forearm_cam/image_raw forearm_left_rect/features:=l_forearm_cam/features tilt_laser/image_features:=tilt_laser/laser_checkerboard tilt_laser/laser_interval:=tilt_laser/laser_checkerboard_interval tilt_laser/snapshot:=tilt_laser/dense_laser_snapshot tilt_laser/laser_image:=tilt_laser/cb_image tilt_laser/joint_features:=tilt_laser/joint_state_features __name:=calibration_exec __log:=/home/applications/.ros/log/20231119-043725_e668f992-8649-11ee-9477-bfd4e0e70484/calibration_exec-59.log].
log file: /home/applications/.ros/log/20231119-043725_e668f992-8649-11ee-9477-bfd4e0e70484/calibration_exec-59*.log

なんかよくわからないので, pudbでデバッグする.

pudb3 /home/applications/ishida_ws/src/calibration/calibration_launch/scripts/capture_exec.py /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/capture_data/samples_pr2_beta /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/capture_data/hardware_config /home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/estimate_params/config_pr2_beta/system.yaml kinect_head/camera_info:=kinect_head/rgb/camera_info kinect_head/image_rect:=kinect_head/rgb/image_mono kinect_head/image:=kinect_head/rgb/image_mono kinect_head/features:=kinect_head/rgb/features kinect_torso/camera_info:=kinect_torso/rgb/camera_info kinect_torso/image_rect:=kinect_torso/rgb/image_mono kinect_torso/image:=kinect_torso/rgb/image_mono kinect_torso/features:=kinect_torso/rgb/features prosilica_rect/camera_info:=prosilica/camera_info prosilica_rect/image_rect:=prosilica/image_rect prosilica_rect/image:=prosilica/image_raw prosilica_rect/features:=prosilica/features narrow_left_rect/camera_info:=narrow_stereo/left/camera_info narrow_left_rect/image_rect:=narrow_stereo/left/image_rect narrow_left_rect/image:=narrow_stereo/left/image_raw narrow_left_rect/features:=narrow_stereo/left/features narrow_right_rect/camera_info:=narrow_stereo/right/camera_info narrow_right_rect/image_rect:=narrow_stereo/right/image_rect narrow_right_rect/image:=narrow_stereo/right/image_raw narrow_right_rect/features:=narrow_stereo/right/features wide_left_rect/camera_info:=wide_stereo/left/camera_info wide_left_rect/image_rect:=wide_stereo/left/image_rect wide_left_rect/image:=wide_stereo/left/image_raw wide_left_rect/features:=wide_stereo/left/features wide_right_rect/camera_info:=wide_stereo/right/camera_info wide_right_rect/image_rect:=wide_stereo/right/image_rect wide_right_rect/image:=wide_stereo/right/image_raw wide_right_rect/features:=wide_stereo/right/features forearm_right_rect/camera_info:=r_forearm_cam/camera_info forearm_right_rect/image_rect:=r_forearm_cam/image_rect forearm_right_rect/image:=r_forearm_cam/image_raw forearm_right_rect/features:=r_forearm_cam/features forearm_left_rect/camera_info:=l_forearm_cam/camera_info forearm_left_rect/image_rect:=l_forearm_cam/image_rect forearm_left_rect/image:=l_forearm_cam/image_raw forearm_left_rect/features:=l_forearm_cam/features tilt_laser/image_features:=tilt_laser/laser_checkerboard tilt_laser/laser_interval:=tilt_laser/laser_checkerboard_interval tilt_laser/snapshot:=tilt_laser/dense_laser_snapshot tilt_laser/laser_image:=tilt_laser/cb_image tilt_laser/joint_features:=tilt_laser/joint_state_features

うーんわからん。同じエラーで躓いているひといた
ros/urdf_parser_py#75

HiroIshida · 2023-11-20T08:16:43Z

これでひとまず動く
export ROS_ENV_LOADER=~/ros/noetic/devel/env.sh
https://github.com/HiroIshida/calibration/tree/noetic_3x_compat/calibration_launch をソースビルド
roslaunch pr2_calibration_launch capture_data.launch

HiroIshida · 2023-11-20T09:48:41Z

次はこんなエラーでてきた

Press <enter> to continue, type N to exit this step
>>>
On Far sample [/home/applications/ishida_ws/src/pr2_calibration/pr2_calibration_launch/capture_data/samples_pr2_beta/0_far/far_0000.yaml]
[ERROR] [1700471532.838877] [/calibration_exec:rosout]: Got a transition callback on a goal handle that we're not tracking
[ERROR] [1700471532.842451] [/calibration_exec:rosout]: Got a transition callback on a goal handle that we're not tracking
Enabling:
 + narrow_left_rect
 + narrow_right_rect
 + wide_left_rect
 + wide_right_rect
 + prosilica_rect
 + kinect_head
 + head_chain
 + tilt_laser
Disabling:
 - forearm_left_rect
 - forearm_right_rect
 - right_arm_chain
 - left_arm_chain

Collecting sensor data..
Stopping sensor streams..

Didn't get good data from prosilica_rect, tilt_laser
--------------- Failed To Capture a Far Sample -----------------
Succeeded on 0 Far samples

HiroIshida · 2023-11-20T09:59:08Z

Note: The texture projector must be off for data capture to work!と書いたので次を走らせる。でもいみなかった。
roslaunch pr2_camera_synchronizer projector_off.launch

HiroIshida · 2023-11-21T09:51:51Z

"Didn't get good data..." でtilt laserがでてる. なぜだか調べるために、calibration_launchの"capture_exex.py"を読んでみると、calibration_msgs.msg.IntervalStatusが出している値
interval_status.yield_rates[i] が0.0だとbad sensor扱いになっている.

このinterval_intersectionというノードがaggregateして出しているっぽい.

applications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rosnode info /interval_intersection
--------------------------------------------------------------------------------
Node [/interval_intersection]
Publications: 
 * /intersected_interval [calibration_msgs/Interval]
 * /intersected_interval_status [calibration_msgs/IntervalStatus]
 * /interval_intersection_config/feedback [interval_intersection/ConfigActionFeedback]
 * /interval_intersection_config/result [interval_intersection/ConfigActionResult]
 * /interval_intersection_config/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /head_chain/settled_interval [calibration_msgs/Interval]
 * /interval_intersection_config/cancel [actionlib_msgs/GoalID]
 * /interval_intersection_config/goal [interval_intersection/ConfigActionGoal]
 * /kinect_head/rgb/settled_interval [calibration_msgs/Interval]
 * /narrow_stereo/left/settled_interval [calibration_msgs/Interval]
 * /narrow_stereo/right/settled_interval [calibration_msgs/Interval]
 * /tilt_laser/settled_interval [calibration_msgs/Interval]
 * /wide_stereo/left/settled_interval [calibration_msgs/Interval]
 * /wide_stereo/right/settled_interval [calibration_msgs/Interval]

applications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rostopic info /tilt_laser/settled_interval
Type: calibration_msgs/Interval

Publishers: 
 * /tilt_laser/laser_settler (http://pr1040:41565/)

Subscribers: 
 * /interval_intersection (http://pr1040:36125/)

applications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rostopic echo /tilt_laser/settled_interval
start: 
  secs: 1700560486
  nsecs: 373367889
end: 
  secs: 1700560486
  nsecs: 373367889
---
start: 
  secs: 1700560502
  nsecs: 391089889
end: 
  secs: 1700560502
  nsecs: 391089889
---

^Capplications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rostopic echo /narrow_stereo/left/settled_interval
start: 
  secs: 1700560558
  nsecs: 861734032
end: 
  secs: 1700560558
  nsecs: 929830770
---
start: 
  secs: 1700560558
  nsecs: 861734032
end: 
  secs: 1700560558
  nsecs: 997638639
---
start: 
  secs: 1700560560
  nsecs: 901726191
end: 
  secs: 1700560560
  nsecs: 901726191
---

narrow stereoのほうはそもそもpublishがはやいけど, tiltのほうは遅い

intersected_interval_statusをみると, 確かにtiltだけ0.0になっている. この原因を調べる.

applications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rostopic echo /intersected_interval_status
header: 
  seq: 1513
  stamp: 
    secs: 1700561112
    nsecs: 328947549
  frame_id: ''
names: 
  - narrow_left_rect
  - wide_left_rect
  - wide_right_rect
  - narrow_right_rect
  - kinect_head
  - head_chain
  - tilt_laser
yeild_rates: [0.6607142686843872, 0.6607142686843872, 0.6607142686843872, 0.6607142686843872, 1.0, 1.0, 0.0]
---

https://chat.openai.com/share/7d62812d-523f-4c17-acda-c3a85dc33537
nil_countはstartとendが一緒のやつ.
やっぱ

applications@pr1040:~/ishida_ws/src/calibration/calibration_launch$ rostopic echo /tilt_laser/settled_interval
start: 
  secs: 1700560486
  nsecs: 373367889
end: 
  secs: 1700560486
  nsecs: 373367889
---

が原因ぽいな.

HiroIshida · 2023-11-21T10:17:55Z

applications@pr1040:~$ rosnode info /tilt_laser/laser_cb_detector
--------------------------------------------------------------------------------
Node [/tilt_laser/laser_cb_detector]
Publications: 
 * /rosout [rosgraph_msgs/Log]
 * /tilt_laser/cb_detector_config/feedback [laser_cb_detector/ConfigActionFeedback]
 * /tilt_laser/cb_detector_config/result [laser_cb_detector/ConfigActionResult]
 * /tilt_laser/cb_detector_config/status [actionlib_msgs/GoalStatusArray]
 * /tilt_laser/cb_image [sensor_msgs/Image]
 * /tilt_laser/laser_checkerboard [calibration_msgs/CalibrationPattern]

Subscriptions: 
 * /tilt_laser/cb_detector_config/cancel [actionlib_msgs/GoalID]
 * /tilt_laser/cb_detector_config/goal [laser_cb_detector/ConfigActionGoal]
 * /tilt_laser/dense_laser_snapshot [calibration_msgs/DenseLaserSnapshot]

Services: 
 * /tilt_laser/laser_cb_detector/get_loggers
 * /tilt_laser/laser_cb_detector/set_logger_level

何もパターンが生成されていないからstart = endになってしまっているらしい.
https://github.com/ros-perception/calibration/blob/hydro/laser_cb_detector/src/laser_interval_calc.cpp#L49-L60

Capplications@pr1040:~/ishida_ws/src/calibration/laser_cb_detector/src$ rostopic hz

すると, tiltが一番したにいくタイミングでpublishされている. 一応値は入っているのでok. なので, laser_interval_calcで失敗している

HiroIshida · 2023-12-05T23:23:19Z

rosrun camera_calibration cameracalibrator.py --size 6x7 --square 0.108 camera:=/kinect_head/rgb image:=/kinect_head/rgb/image_raw

https://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration　の指示にしたがって, camera calibrationを行う. calibrateボタンが表示されるまで, pr2の首をぐるぐるまわす.
calibrationが終わるとsaveを押す. 押すと, /tmp/calibrationdate.tar.gzに保存される.
解凍すると, ost.yamlが得られる. それがrgbのcamera param.

image_width: 640
image_height: 480
camera_name: narrow_stereo
camera_matrix:
  rows: 3
  cols: 3
  data: [553.51575,   0.     , 324.3736 ,
           0.     , 558.4634 , 264.11534,
           0.     ,   0.     ,   1.     ]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.210831, -0.335732, -0.004329, 0.007108, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1., 0., 0.,
         0., 1., 0.,
         0., 0., 1.]
projection_matrix:
  rows: 3
  cols: 4
  data: [571.37463,   0.     , 327.8181 ,   0.     ,
           0.     , 579.21039, 262.05943,   0.     ,
           0.     ,   0.     ,   1.     ,   0.     ]

たぶん, 得られたcamera paramはdeviceに書き込まれているため, usb-restartする必要がある.

HiroIshida · 2023-12-06T00:08:13Z

irのcalibrationを行う. よく落ちる. usb resetする.

import subprocess
import os

p = subprocess.Popen("lsusb", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
stdout, stderr = p.communicate()
lines = stdout.split("\n")
for line in lines:
    print(line)
print("^^^^^^^^^^^^^^^^^^^^")
# ms_line = [l for l in lines if "ASUS" in l][0]
ms_lines = [l for l in lines if "Microsoft" in l]
for ms_line in ms_lines:
    print(ms_line)
    tmp = ms_line.split(' ')
    bus_id, device_id = tmp[1], tmp[3]
    print(bus_id)
    full_path = "/dev/bus/usb/" + bus_id + "/" + device_id.rstrip(":")
    print(full_path)
    print('rosrun openni2_camera usb_reset ' + full_path)
    if os.access(full_path, os.W_OK):
        retcode = subprocess.call('rosrun openni2_camera usb_reset ' + full_path, shell=True)

HiroIshida · 2023-12-06T00:20:00Z

rosrun camera_calibration cameracalibrator.py image:=/kinect_head/ir/image_raw camera:=/kinect_head/ir --size 5x4 --square 0.0245

IR-image, rvizでは見えてるのに, camera_calibrationでは見れない...

scribをdumpしてhistogramをplotすると, 1, 2, 3に集中している. normalizationをミスっているか.
scrib_monoの段階では, 画像はそれらしいものになっているが, scribでは真っ黒. (matplotluib)
ただopencvではscribe_monoもscribeも真っ黒.
やっぱencodingみすってるか.

ちなみにirのencoding はmono16

---
^Cheader: 
  seq: 56794
  stamp: 
    secs: 1701824766
    nsecs: 148020733
  frame_id: "head_mount_kinect_ir_optical_frame"
height: 480
width: 640
encoding: "mono16"
is_bigendian: 0
step: 1280
data: "<array type: uint8, length: 614400>"
---
``

HiroIshida · 2023-12-06T01:55:31Z

calibration終わったあと, kinectのcamera infoが出荷時にもどらない... ハードウェアに書き込まれている...

[http://pr1040:11311][133.11.216.116] h-ishida@azarashi:~/tmp/camera_calibration$ rosservice info /kinect_head/rgb/set_camera_info
Node: /kinect_head/kinect_head_nodelet_manager
URI: rosrpc://pr1040:54671
Type: sensor_msgs/SetCameraInfo
Args: camera_info

塚本君からもらったoriginalのcamera_infoはこれ(pr1014でも同じ)

header: 
  seq: 139502
  stamp: 
    secs: 1701675336
    nsecs: 761567696
  frame_id: "head_mount_kinect_rgb_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [525.0, 0.0, 319.5, 0.0, 525.0, 239.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [525.0, 0.0, 319.5, 0.0, 0.0, 525.0, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

HiroIshida · 2023-12-06T22:58:08Z

ln -sf ~/ishida_ws/camera_calibration/rgb/ost.yaml ~/.ros/camera_info/rgb_A00362913844045A.yaml
ln -sf ~/ishida_ws/camera_calibration/ir/ost.yaml ~/.ros/camera_info/depth_A00362913844045A.yaml

Dec  5 17:10:25 pr1040 jsk-pr2-startup[70617]: #033[33m[ WARN] [1701763825.564456698] [/kinect_head/kinect_head_nodelet_manager:ros.camera_info_manager]: Camera calibration file /home/applications/.ros/camera_info/rgb_A00362913844045A.yaml not found.#033[0m
Dec  5 17:10:25 pr1040 jsk-pr2-startup[70617]: #033[33m[ WARN] [1701763825.564504515] [/kinect_head/kinect_head_nodelet_manager:ros.openni_camera./kinect_head/driver]: Using default parameters for RGB camera calibration.#033[0m
Dec  5 17:10:25 pr1040 jsk-pr2-startup[70617]: #033[33m[ WARN] [1701763825.564532073] [/kinect_head/kinect_head_nodelet_manager:ros.camera_info_manager]: Camera calibration file /home/applications/.ros/camera_info/depth_A00362913844045A.yaml not found.#033[0m

HiroIshida · 2023-12-07T00:04:07Z

キャリブレーション後 (IRparam 2)

HiroIshida · 2023-12-07T00:05:31Z

キャリブレーション後 (IR param1)

HiroIshida · 2023-12-07T00:08:58Z

キャリブレーション前

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pr2 joint calibration #47

pr2 joint calibration #47

HiroIshida commented Nov 18, 2023 •

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HiroIshida commented Nov 20, 2023 •

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HiroIshida commented Nov 20, 2023 •

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HiroIshida commented Dec 6, 2023 •

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HiroIshida commented Dec 7, 2023

HiroIshida commented Dec 7, 2023

HiroIshida commented Dec 7, 2023

pr2 joint calibration #47

pr2 joint calibration #47

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HiroIshida commented Nov 18, 2023 • edited Loading

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