calibration

Note: This wiki is a WIP.

We finally had a successful, manual arm calibration. Here's what we did:

• Carefully calibrate the head camera to base first.
• Start from base, work slowly until end effector.
• Don't ignore base offset X,Y,Z and also R,P,Y . This is defined in cyton gamma description.
• Get nice reflective materials (white paper works) and place it somewhere around link0-link1. Adjust the 6DOF values for the base. roslaunch mbot_description update_robot_urdf.launch to see the effect. Rotate the arm all the way around and make sure it's still calibrated. Repeat this as many times as necessary, it is the most crucial step.
• For all the other joints repeat the above but adjust only the joint offset ( rosrun rqt_reconfigure rqt_reconfigure ). No need to update the URDF in these cases.
• Keep rotating the arm to check for sure that it will work in different poses.
• Save the values in rqt_reconfigure, and write them to cyton gamma driver -> republisher launch file (joint_offset arguments)
• Bringup and hopefully all is fine.