handeye_calibration_commander.py 文件源码

def main():
    rospy.init_node('easy_handeye')
    while rospy.get_time() == 0.0:
        pass

    print('Handeye Calibration Commander')
    print('connecting to: {}'.format((rospy.get_namespace().strip('/'))))

    cmder = HandeyeCalibrationCommander()

    if cmder.client.eye_on_hand:
        print('eye-on-hand calibration')
        print('robot effector frame: {}'.format(cmder.client.robot_effector_frame))
    else:
        print('eye-on-base calibration')
        print('robot base frame: {}'.format(cmder.client.robot_base_frame))
    print('tracking base frame: {}'.format(cmder.client.tracking_base_frame))
    print('tracking target frame: {}'.format(cmder.client.tracking_marker_frame))

    cmder.spin_interactive()