我最近做了一个机器人视觉抓取项目，目的是让机器人准确地将咖啡放在桌子上，并将其交给我旁边的人。当前的实施结果是可以捕获任意放置在某个区域的纸杯。水平定位精度在20mm之内，垂直定位精度很差，并且误差为20〜35mm。原因是垂直方向对应于相机。深度方向。

以下是项目中某些代码使用情况和错误解决方案的摘要。大多数代码已经是开源解决方案，但是在使用时，总是会有各种问题，所有问题都依赖于其他人的博客和代码库的问题。已解决。

1。定位1.1参数设置

有一个特殊的ROS版本代码（）。在运行代码之前，必须安装相机驱动程序并校准相机。

在启动节点之前，您必须首先设置标签。

///.yaml

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-yaml"><span class="token key atrule">tag_family</span><span class="token punctuation">:</span>  <span class="token string">&#39;tag36h11&#39;</span> <span class="token comment"># options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12</span> <span class="token key atrule">tag_threads</span><span class="token punctuation">:</span> <span class="token number">2</span> <span class="token comment"># default: 2</span> <span class="token key atrule">tag_decimate</span><span class="token punctuation">:</span><span class="token number">1.0</span>  <span class="token comment"># default: 1.0</span> </code></pre></p>

必须注意的是，它与打印的标签是一致的，并且通常您使用36H11。

////tags.yaml

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-yaml"><span class="token key atrule">standalone_tags</span><span class="token punctuation">:</span>   <span class="token punctuation">[</span> <span class="token comment"># {id: 1, size: 0.058},#size对应标签的大小</span> <span class="token comment"># {id: 0, size: 0.048},</span> <span class="token comment"># {id: 0, size: 0.04},</span> <span class="token comment"># {id: 1, size: 0.04}, </span> <span class="token comment"># {id: 2, size: 0.04},</span> <span class="token comment"># {id: 3, size: 0.04}, </span> <span class="token comment"># {id: 4, size: 0.04}</span>   <span class="token punctuation">]</span>   <span class="token key atrule">tag_bundles</span><span class="token punctuation">:</span>   <span class="token punctuation">[</span> <span class="token punctuation">{</span> <span class="token key atrule">name</span><span class="token punctuation">:</span> <span class="token string">&#39;my_bundle&#39;</span><span class="token punctuation">,</span> <span class="token key atrule">layout</span><span class="token punctuation">:</span>   <span class="token punctuation">[</span> <span class="token punctuation">{</span><span class="token key atrule">id</span><span class="token punctuation">:</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token key atrule">size</span><span class="token punctuation">:</span> <span class="token number">0.044</span><span class="token punctuation">,</span> <span class="token key atrule">x</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">y</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">z</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qw</span><span class="token punctuation">:</span> <span class="token number">1.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qx</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qy</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qz</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">}</span><span class="token punctuation">,</span> <span class="token punctuation">{</span><span class="token key atrule">id</span><span class="token punctuation">:</span> <span class="token number">4</span><span class="token punctuation">,</span> <span class="token key atrule">size</span><span class="token punctuation">:</span> <span class="token number">0.044</span><span class="token punctuation">,</span> <span class="token key atrule">x</span><span class="token punctuation">:</span> <span class="token number">0.0300</span><span class="token punctuation">,</span> <span class="token key atrule">y</span><span class="token punctuation">:</span> <span class="token number">-0.0830</span><span class="token punctuation">,</span> <span class="token key atrule">z</span><span class="token punctuation">:</span>  <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qw</span><span class="token punctuation">:</span> <span class="token number">1.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qx</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qy</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qz</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">}</span><span class="token punctuation">,</span> <span class="token punctuation">{</span><span class="token key atrule">id</span><span class="token punctuation">:</span> <span class="token number">3</span><span class="token punctuation">,</span> <span class="token key atrule">size</span><span class="token punctuation">:</span> <span class="token number">0.044</span><span class="token punctuation">,</span> <span class="token key atrule">x</span><span class="token punctuation">:</span> <span class="token number">-0.0300</span><span class="token punctuation">,</span> <span class="token key atrule">y</span><span class="token punctuation">:</span> <span class="token number">-0.0830</span><span class="token punctuation">,</span> <span class="token key atrule">z</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qw</span><span class="token punctuation">:</span> <span class="token number">1.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qx</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qy</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qz</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">}</span><span class="token punctuation">,</span> <span class="token punctuation">{</span><span class="token key atrule">id</span><span class="token punctuation">:</span> <span class="token number">2</span><span class="token punctuation">,</span> <span class="token key atrule">size</span><span class="token punctuation">:</span> <span class="token number">0.044</span><span class="token punctuation">,</span> <span class="token key atrule">x</span><span class="token punctuation">:</span> <span class="token number">0.0300</span><span class="token punctuation">,</span> <span class="token key atrule">y</span><span class="token punctuation">:</span> <span class="token number">0.0830</span><span class="token punctuation">,</span> <span class="token key atrule">z</span><span class="token punctuation">:</span>  <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qw</span><span class="token punctuation">:</span> <span class="token number">1.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qx</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qy</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qz</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">}</span><span class="token punctuation">,</span> <span class="token punctuation">{</span><span class="token key atrule">id</span><span class="token punctuation">:</span> <span class="token number">1</span><span class="token punctuation">,</span> <span class="token key atrule">size</span><span class="token punctuation">:</span> <span class="token number">0.044</span><span class="token punctuation">,</span> <span class="token key atrule">x</span><span class="token punctuation">:</span> <span class="token number">-0.0300</span><span class="token punctuation">,</span> <span class="token key atrule">y</span><span class="token punctuation">:</span> <span class="token number">0.0830</span><span class="token punctuation">,</span> <span class="token key atrule">z</span><span class="token punctuation">:</span>  <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qw</span><span class="token punctuation">:</span> <span class="token number">1.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qx</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qy</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">,</span> <span class="token key atrule">qz</span><span class="token punctuation">:</span> <span class="token number">0.0000</span><span class="token punctuation">}</span>   <span class="token punctuation">]</span> <span class="token punctuation">}</span>   <span class="token punctuation">]</span> </code></pre></p>

如果tags.yaml，则必须注意两者之间的区别。

1.2 USB摄像机启动

我在源代码中安装了驱动程序包，但是源代码没有用。我没有阅读或修改它。整个项目仅使用文件检验。

//-测试。

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-xml"><span class="token tag"><span class="token tag"><span class="token punctuation"><</span>launch</span><span class="token punctuation">></span></span>   <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>node</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>usb_cam<span class="token punctuation">"</span></span> <span class="token attr-name">pkg</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>usb_cam<span class="token punctuation">"</span></span> <span class="token attr-name">type</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>usb_cam_node<span class="token punctuation">"</span></span> <span class="token attr-name">output</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>screen<span class="token punctuation">"</span></span> <span class="token punctuation">></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>camera_info_url<span class="token punctuation">"</span></span> <span class="token attr-name">type</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>string<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>file:///home/jeremy/.ros/camera_info/head_camera.yaml<span class="token punctuation">"</span></span><span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>video_device<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>/dev/video2<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image_width<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>640<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image_height<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>480<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>pixel_format<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>yuyv<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>camera_frame_id<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>usb_cam<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>io_method<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>mmap<span class="token punctuation">"</span></span><span class="token punctuation">/></span></span>   <span class="token tag"><span class="token tag"><span class="token punctuation"></</span>node</span><span class="token punctuation">></span></span>   <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>node</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image_view<span class="token punctuation">"</span></span> <span class="token attr-name">pkg</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image_view<span class="token punctuation">"</span></span> <span class="token attr-name">type</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image_view<span class="token punctuation">"</span></span> <span class="token attr-name">respawn</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>false<span class="token punctuation">"</span></span> <span class="token attr-name">output</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>screen<span class="token punctuation">"</span></span><span class="token punctuation">></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>remap</span> <span class="token attr-name">from</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>image<span class="token punctuation">"</span></span> <span class="token attr-name">to</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>/usb_cam/image_raw<span class="token punctuation">"</span></span><span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>autosize<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>true<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span>   <span class="token tag"><span class="token tag"><span class="token punctuation"></</span>node</span><span class="token punctuation">></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"></</span>launch</span><span class="token punctuation">></span></span> </code></pre></p>

第三行代码在校准后添加了相机参数的位置。源代码不应有此句子。我在像这样写的手眼校准中看到了一个启动文件，所以我添加了它。 （实际上，我没有看到单眼相机校准的功能。如果我删除了这句话，当我观察输出图像时我不会看到任何更改。但是，为了心理舒适，我最好不要删除它，否则我的准确性将再次消失...）

也有第4行。如果您发现笔记本电脑在启动文件后具有自己的相机（突然出现并感到震惊），然后将其更改为或更改。但是不要更改它，您会说找不到它。

1.3报告错误

[WARN] [。]：of TAG ID [0]，但没有找到...

此问题是因为QR代码ID在tags.yaml中未正确设置。重要的是要注意，ID必须与打印的QR码一致。还有一个标签设置，稍后设置多个设置。

启动相机后，我发现图像是黑色的

当我遇到这个问题时，我在线搜索了很长时间，并根据其他博客作者更改了文件中的参数，但它们毫无用处。最后，我被逗乐和笑了，意识到单眼相机的光圈被最小化了，当孔径增加时，它出现了。对不起，我已经反复测试了在使用时是否可以使用相机。

输出位置信息为0

尚未执行摄像机校准，并且摄像机参数未保存到.ROS/ 。

2。使用Jaka机器人API

Jaka有一个官方的API二级开发文档，该文件更详细地编写，但是我的机器人控制代码是用C ++编写的，因此我在开发过程中使用了C ++ API。通常，首先尝试一下，然后将其更改为C ++，如果它成功。

2.1二级发展

如果您在Linux平台上使用机器人API，则需要将JAKA给出的两个编译库放入与代码相同的文件夹中。在运行代码之前，您还需要将代码文件夹路径添加到环境变量，即在终端中运行以下代码行。我的代码位于抓取/路径下。

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-shell"><span class="token builtin class-name">export</span> <span class="token assign-left variable">LD_LIBRARY_PATH</span><span class="token operator">=</span>~/project/jaka/SendCoffee/src/grab/script </code></pre></p>

要注意的另一件事是，卡机器人的API使用环境为.5。如果您的Linux默认环境为2.7，则可以使用***。py命令运行代码。我的环境是3.6.9，这与3.5的官方要求不一致，但目前我没有问题。

2.2 C ++二级发展

需要编译C ++，因此设置将更加麻烦。我成功地汇编了Jaka给出的文件中的Linux示例代码。具体步骤是首先在“抓取功能”软件包中创建一个抓取/文件夹，然后放入.h，jkerr.h，.h3标头文件中。然后创建Grap/Lib文件夹，然后将其放入编译的C ++静态库中。最后，您只需要正确编写CMAKE编译文件，就可以使用命令对其进行编译。哦，顺便说一句，您必须将要遇到的C ++代码放入Grab/SRC文件夹中。

抓取/.txt

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-c"><span class="token function">cmake_minimum_required</span><span class="token punctuation">(</span>VERSION <span class="token number">3.0</span><span class="token number">.2</span><span class="token punctuation">)</span> <span class="token function">project</span><span class="token punctuation">(</span>grab<span class="token punctuation">)</span> <span class="token function">find_package</span><span class="token punctuation">(</span>catkin REQUIRED COMPONENTS roscpp   rospy   std_msgs   apriltag_ros <span class="token punctuation">)</span> <span class="token function">catkin_package</span><span class="token punctuation">(</span> <span class="token macro property"><span class="token directive-hash">#</span>  <span class="token expression">INCLUDE_DIRS include</span></span> <span class="token macro property"><span class="token directive-hash">#</span>  <span class="token expression">LIBRARIES test</span></span> <span class="token macro property"><span class="token directive-hash">#</span>  <span class="token expression">CATKIN_DEPENDS roscpp</span></span> <span class="token macro property"><span class="token directive-hash">#</span>  <span class="token expression">DEPENDS system_lib</span></span> <span class="token punctuation">)</span> <span class="token function">include_directories</span><span class="token punctuation">(</span>   $<span class="token punctuation">{</span>catkin_INCLUDE_DIRS<span class="token punctuation">}</span> <span class="token punctuation">)</span> <span class="token function">include_directories</span><span class="token punctuation">(</span> <span class="token string">"/usr/include/eigen3"</span> <span class="token punctuation">)</span> <span class="token macro property"><span class="token directive-hash">#</span> <span class="token directive keyword">include</span> <span class="token expression">头文件目录</span></span> <span class="token function">include_directories</span><span class="token punctuation">(</span>include<span class="token punctuation">)</span> <span class="token function">LINK_DIRECTORIES</span><span class="token punctuation">(</span>$<span class="token punctuation">(</span>SRC_ROOT_PATH<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token function">LINK_DIRECTORIES</span><span class="token punctuation">(</span>$<span class="token punctuation">{</span>CMAKE_CURRENT_SOURCE_DIR<span class="token punctuation">}</span><span class="token operator">/</span>lib<span class="token punctuation">)</span> <span class="token function">LINK_LIBRARIES</span><span class="token punctuation">(</span>pthread<span class="token punctuation">)</span> # 编译成可执行文件，如果编译动态库可以用：target_link_libraries <span class="token function">add_executable</span><span class="token punctuation">(</span>control_robot src<span class="token operator">/</span>control_robot<span class="token punctuation">.</span>cpp<span class="token punctuation">)</span> <span class="token function">target_link_libraries</span><span class="token punctuation">(</span>control_robot jakaAPI<span class="token punctuation">)</span> <span class="token function">target_link_libraries</span><span class="token punctuation">(</span>control_robot  $<span class="token punctuation">{</span>catkin_LIBRARIES<span class="token punctuation">}</span><span class="token punctuation">)</span> <span class="token function">find_package</span><span class="token punctuation">(</span>Threads<span class="token punctuation">)</span> <span class="token function">target_link_libraries</span> <span class="token punctuation">(</span>control_robot $<span class="token punctuation">{</span>CMAKE_THREAD_LIBS_INIT<span class="token punctuation">}</span><span class="token punctuation">)</span> </code></pre></p>

3。机器人手眼校准（眼睛在手外）

手外眼的手眼校准是为了解决相对于机器人底部的摄像机的位置。在此项目中，定位可以在相机坐标系中获得标签的位置，并且抓取目标和标签的相对位置是固定的。因此，完成手眼校准后，可以在标签坐标系统 - &gt;相机坐标系统 - &gt;机器人坐标系中抓取目标的位置转换。

在求解机器人坐标系统下的抓取目标的位置后，可以控制机器人移动到目标点并抓住。

3.1校准方法

我使用了 Ros撰写的-Calib软件包（）。该代码对操作步骤进行了详细的介绍。我通过在线校准过程实施了它。 -Calib实际上与功能包的原理相同。它称为CV2。（）函数以完成手眼校准。有一个更好的视觉接口，但是相应的代码也更难读取。

许多手眼校准博客都使用驱动程序机器人通过TF树获取机器人位置，但我不知道如何使用它，因此我决定直接致电Jaka SDK以获取机器人位置姿势，并通过ROS发布主题&#39; ::消息格式 /。这样，校准程序可以直接订阅机器人位置主题。以下是修改后的手眼校准文件。

-Calib /// Alib。

<p style='margin-bottom:15px;color:#555555;font-size:15px;line-height:200%;text-indent:2em;'> <pre><code class="prism language-xml"><span class="token tag"><span class="token tag"><span class="token punctuation"><</span>launch</span><span class="token punctuation">></span></span> <span class="token comment"></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>arg</span><span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>camera_pose_topic<span class="token punctuation">"</span></span><span class="token attr-name">default</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>/aruco_single/pose<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token comment"></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>arg</span><span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>arm_pose_topic<span class="token punctuation">"</span></span><span class="token attr-name">default</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>/robot_pos<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>node</span> <span class="token attr-name">pkg</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>handeye-calib<span class="token punctuation">"</span></span> <span class="token attr-name">type</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>online_hand_to_eye_calib.py<span class="token punctuation">"</span></span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>online_hand_to_eye_calib<span class="token punctuation">"</span></span> <span class="token attr-name">output</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>screen<span class="token punctuation">"</span></span> <span class="token punctuation">></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>arm_pose_topic<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>$(arg arm_pose_topic)<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"><</span>param</span> <span class="token attr-name">name</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>camera_pose_topic<span class="token punctuation">"</span></span> <span class="token attr-name">value</span><span class="token attr-value"><span class="token punctuation attr-equals">=</span><span class="token punctuation">"</span>$(arg camera_pose_topic)<span class="token punctuation">"</span></span> <span class="token punctuation">/></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"></</span>node</span><span class="token punctuation">></span></span> <span class="token tag"><span class="token tag"><span class="token punctuation"></</span>launch</span><span class="token punctuation">></span></span> </code></pre></p>

3.2问题没有命名&#39;&#39;

将第一个句子＃！/usr/bin/-calib/src // alib.py更改为，因为ROS版本仅支持它，因此代码无法使用ROS包。没有名字

通过PIP安装库。如果没有PIP，请先安装PIP，sudo apt -get -pip。如果手眼校准代码有其他库找不到的错误，则也可以尝试先使用PIP安装。此外，如果您在线搜索错误消息，您将找到许多用于安装库的教程。但是，有必要注意是否需要安装库，只需使用PIP和PIP3即可。 &#39;&#39;没有&#39;

请参阅英特尔D435手眼校准中的博客错误2。 super（）。（）错误：super（）至少1（0给定）

删除super（）。（）。该句子用于继承父类的初始化功能。作者可能在这里写错了。校准结果非常差

校准过程不应大规模移动机器人，并且不同记录组之间的末端旋转角相对较大。有关提高校准精度的方法，请参阅博客的手眼校准（II）：TSAI解决方案方法。在采用博客作者提到的措施之后，校准结果的准确性在10mm的范围内。最喜欢的网址

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