本系列教程作者：小魚
基于ROS的機(jī)械臂手眼標(biāo)定-常見(jiàn)錯(cuò)誤排查
大家好，我是小智，之間開源了關(guān)于手眼標(biāo)定的一個(gè)項(xiàng)目，但在使用過(guò)程中，可能會(huì)遇到一些問(wèn)題，趁著五一放假，收集了一些常見(jiàn)的問(wèn)題列一下，如果有其他問(wèn)題可以提出。
開源地址
github: https://github.com/aiotrobot/handeye-calib
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機(jī)械臂位姿手眼標(biāo)定程序相機(jī)中標(biāo)定板位姿末端與相機(jī)位姿關(guān)系
本教程一共包含五個(gè)部分：
手眼標(biāo)定-基礎(chǔ)使用 手眼標(biāo)定-JAKA機(jī)械臂 手眼標(biāo)定-AUBO機(jī)械臂 手眼標(biāo)定-Aruco使用與相機(jī)標(biāo)定 手眼標(biāo)定-注意事項(xiàng) 如果上述程序使用過(guò)程中遇到問(wèn)題，可以參考：
手眼標(biāo)定-常見(jiàn)問(wèn)題排查 如果你對(duì)手眼標(biāo)定原理感興趣，可以參考以下文章：
機(jī)器人手眼標(biāo)定原理介紹（含詳細(xì)推導(dǎo)過(guò)程）使用Tsai-Lenz算法 手眼標(biāo)定算法TSAI_LENZ，眼在手外python代碼實(shí)現(xiàn) 手眼標(biāo)定算法Tsai-Lenz代碼實(shí)現(xiàn)（Python、C++、Matlab） 一、缺少庫(kù)錯(cuò)誤
1 缺少程序中所引用的坐標(biāo)轉(zhuǎn)換庫(kù)transforms3d
Traceback
( most recent call last
) :File
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py" , line
5 ,
in < module
> import transforms3d as tfs
ImportError: No module named transforms3d
[ base_hand_on_eye_calib-2
] process has died
[ pid
4313 ,
exit code
1 , cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:
= base_hand_on_eye_calib __log:
= /home/nature/.ros/log/3c7dc26a-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log
] .
log file: /home/nature/.ros/log/3c7dc26a-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log
解決方法
pip
install transforms3d
2 缺少格式化庫(kù)
Traceback
( most recent call last
) :File
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py" , line
10 ,
in < module
> from tabulate
import tabulate
ImportError: No module named tabulate
[ base_hand_on_eye_calib-2
] process has died
[ pid
5223 ,
exit code
1 , cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:
= base_hand_on_eye_calib __log:
= /home/nature/.ros/log/770e569c-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log
] .
log file: /home/nature/.ros/log/770e569c-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log
解決方法
pip
install tabulate
二、OpenCv相關(guān)錯(cuò)誤
1. OpenCv版本錯(cuò)誤問(wèn)題
手眼標(biāo)定所采用的opencv版本必須是4.1以上的，為什么呢？因?yàn)榈桶姹臼菦](méi)有手眼標(biāo)定函數(shù)的。
Traceback
( most recent call last
) :File
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py" , line
11 ,
in < module
> from handeye_calibration_backend_opencv
import HandeyeCalibrationBackendOpenCVFile
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/handeye_calibration_backend_opencv.py" , line
17 ,
in < module
> class HandeyeCalibrationBackendOpenCV
( object
) :File
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/handeye_calibration_backend_opencv.py" , line
22 ,
in HandeyeCalibrationBackendOpenCV
'Tsai-Lenz' : cv2.CALIB_HAND_EYE_TSAI,
AttributeError:
'module' object has no attribute
'CALIB_HAND_EYE_TSAI'
[ base_hand_on_eye_calib-2
] process has died
[ pid
5329 ,
exit code
1 , cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:
= base_hand_on_eye_calib __log:
= /home/nature/.ros/log/84e7ed28-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log
] .
log file: /home/nature/.ros/log/84e7ed28-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log
解決方式
a.查看當(dāng)前的opencv位置
nature@nature:~$ python
Python
2.7 .17
( default, Feb
27 2021 ,
15 :10:58
)
[ GCC
7.5 .0
] on linux2
Type
"help" ,
"copyright" ,
"credits" or
"license" for more information.
>> > import cv2
>> > cv2.__file__
'/usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so'
b.備份當(dāng)前的opencv
sudo mv /usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so /usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so.back
c.重新安裝opencv
記得指定好系統(tǒng)的版本
nature@nature:~$ pip
install opencv-python
== 4.1 .0.25
Collecting opencv-python
== 4.1 .0.25Downloading https://files.pythonhosted.org/packages/77/30/36c3f0644fa9f42d92f079b972e990a5874c1fc2b2c0e9656eb88bb8d6dc/opencv_python-4.1.0.25-cp27-cp27mu-manylinux1_x86_64.whl
( 26 .6MB
) 100 %
| ████████████████████████████████
| 26 .6MB 50kB/s
Collecting numpy
> = 1.11 .1
( from opencv-python
== 4.1 .0.25
) Cache entry deserialization failed, entry ignoredDownloading https://files.pythonhosted.org/packages/3a/5f/47e578b3ae79e2624e205445ab77a1848acdaa2929a00eeef6b16eaaeb20/numpy-1.16.6-cp27-cp27mu-manylinux1_x86_64.whl
( 17 .0MB
) 100 %
| ████████████████████████████████
| 17 .0MB 70kB/s
Installing collected packages: numpy, opencv-python
Successfully installed numpy-1.16.6 opencv-python-4.1.0.25
三、運(yùn)行時(shí)python版本錯(cuò)誤
問(wèn)題
運(yùn)行時(shí)采用python2版本，如果你的終端默認(rèn)python版本是python3，請(qǐng)做一下切換。
process
[ base_hand_on_eye_calib-2
] : started with pid
[ 4249 ] File
"/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py" , line
57 print str
( "\n " +tabulate
( data,headers
= "firstrow" ) +
"\n " ) ^
SyntaxError: invalid syntax
[ base_hand_on_eye_calib-2
] process has died
[ pid
4249 ,
exit code
1 , cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:
= base_hand_on_eye_calib __log:
= /home/nature/.ros/log/0c7bef56-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log
] .
log file: /home/nature/.ros/log/0c7bef56-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log
解決方式
比如使用conda的環(huán)境的，可以使用conda deactivate 進(jìn)行環(huán)境退出。
conda deactivate
總結(jié)
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