Hand eye Calibration
Install the calibration board so that the relationship between end-effector and the calibration pattern are known
$ roslaunch abb_node abb_logger.launch # Connect to the logger socket and start advertises logger services
$ roslaunch realsense2_camera rs_rgbd.launch # Turn of camera
$ roslaunch hand_eye_calibration hand_eye_calibration_abb.launch # Main calibration GUI
You will see an GUI shows up.
Move the robot arm manually so that the camera can see the calibration pattern in different pose, press Record to record the data points.
After you collect sufficient data points, press Compute to get the result, or the transformation matrix from base_link to camera_link.
You can also press Broadcast to visualize the point cloud RViz to evaluate the goodness of this calibration.