Users Manual

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"success": "bool"
}
Table 6.7.3: Return codes of the calibrate service call
status success Description
0 true calibration successful; returned resulting calibration pose
1 false not enough poses to perform calibration
2 false calibration result is invalid, please verify the input data
3 false given calibration grid dimensions are not valid
save
_
calibration persistently saves the result of hand-eye calibration to the rc_visard and overwrites the ex-
isting one. The stored result can be retrieved any time by the get
_
calibration service.
This service requires no arguments.
This service returns the following response:
{
"message": "string",
"status": "int32",
"success": "bool"
}
Table 6.7.4: Return codes of the save
_
calibration service call
status success Description
0 true calibration saved successfully
1 false could not save calibration file
2 false calibration result is not available
remove
_
calibration removes the persistent hand-eye calibration on the rc_visard. After this call the
get
_
calibration service reports again that no hand-eye calibration is available.
This service requires no arguments.
This service returns the following response:
{
"message": "string",
"status": "int32",
"success": "bool"
}
Table 6.7.5: Return codes of the get
_
calibration service call
status success Description
0 true removed persistent calibration, sensor reports as uncalibrated
1 true no persistent calibration found, sensor reports as uncalibrated
2 false could not remove persistent calibration
get
_
calibration returns the hand-eye calibration currently stored on the rc_visard.
This service requires no arguments.
This service returns the following response:
{
"error": "float64",
"message": "string",
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6.7. Hand-eye calibration 65