ros机械臂末端tcp标定python函数接口

在ROS中，机械臂末端TCP标定的常用工具是`robot_calibration`。你可以通过安装`robot_calibration`包来使用该工具。以下是一些示例代码，展示如何在Python中使用`robot_calibration`包来进行TCP标定。

import rospy
import rosbag
import numpy as np
from sensor_msgs.msg import JointState
from robot_calibration_msgs.msg import CalibrationData
from robot_calibration_msgs.msg import CalibrationDataCollection
from robot_calibration_client import robot_calibration_client

# 定义标定数据的文件名
calibration_data_file = 'calibration_data.bag'

# 读取标定数据
def read_calibration_data():
    cal_data = CalibrationDataCollection()
    bag = rosbag.Bag(calibration_data_file, 'r')
    for topic, msg, t in bag.read_messages(topics=['/calibration_data']):
        cal_data.calibration_data.append(msg)
    bag.close()
    return cal_data

# 执行标定
def perform_calibration():
    rospy.init_node('tcp_calibration')
    cal_data = read_calibration_data()
    joint_states = JointState()
    # 设置关节状态值
    joint_states.name = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
    joint_states.position = [0, 0, 0, 0, 0, 0]
    # 使用robot_calibration_client进行标定
    robot_calibration_client(cal_data, joint_states)

if __name__ == '__main__':
    perform_calibration()

以上代码仅提供了一个示例，具体的标定流程和参数设置需要根据你的具体机械臂和TCP进行调整。