Cannot take samples about easy_handeye HOT 2 CLOSED

Hi @DimitrisKld,

I can't find in the log which one of the two transforms is the problematic one.

However, when you start the calibration you should have already started both the robot and the tracking system, such that they publish the current robot and marker pose on tf. You should not have to publish the transform between the robot base and effector: that's the robot's software job! (e.g. the robot_state_publisher).

Publishing an arbitrary transform between the robot base and the tracking system base (e.g. camera) is only recommended so that all tf frames are in a single tree, and you can see everything at the same time in rviz without changing the global base frame.

Once you have started both the robot and the tracking system you can take a look at the situation with rqt_tf_tree, and check that both rosrun tf tf_echo <tracking base frame> <tracking marker frame> and rosrun tf tf_echo <robot base frame> <robot effector frame> run without problems. Otherwise the calibration can't work.

from easy_handeye.

Closing for inactivity. If the problem persists, please comment and the issue will be reopened if appropriate.

from easy_handeye.