Visual Camera Calibration

Picture this: you’re a robot arm, and your job is to pick up a coffee cup. You’ve got a high-tech camera for vision, but it can only tell you where the cup is relative to itself. The challenge? Converting that information into the coordinates your arm needs to reach and grasp the cup. The primary objective of this project is to develop a ROS2 program capable of automatically generating the transformation between the camera and the robotic arm based on images captured by the camera.

To successfully complete the project, you will need to accomplish the following tasks:
1. Configure MoveIt2
Set up MoveIt2 to control the UR3e robot arm effectively.
2. Calibrate the Camera TFs.
Build a ROS2 pipeline that uses images captured by the camera to automatically calculate and generate a transformation linking the camera to the robot arm.
3. Create a Web Application.
Design a web-based interface to control and monitor the entire process, enhancing usability and accessibility.
4. Containerize the Applications.
Use Docker to containerize all applications, ensuring streamlined deployment and cross-environment compatibility.
5. Document the Project.
Write clear and comprehensive documentation to outline the project’s setup, execution, and outcomes, making it easier for others to understand and replicate.