ros机械臂末端tcp标定python函数接口

以下是一个简单的 Python 函数接口，用于进行 ROS 机械臂末端 TCP 标定。该函数使用 ROS 中的 TF 库进行变换计算，需要先安装 ROS 和相应的机械臂驱动程序。

import rospy
import tf
from geometry_msgs.msg import PoseStamped

def tcp_calibration(listener, base_frame, tcp_frame):
    # Wait for the transform between base_frame and tcp_frame to become available
    listener.waitForTransform(base_frame, tcp_frame, rospy.Time(), rospy.Duration(10.0))
    
    # Get the current pose of the TCP in the base frame
    tcp_pose = PoseStamped()
    tcp_pose.header.frame_id = tcp_frame
    tcp_pose.header.stamp = rospy.Time(0)
    tcp_pose.pose.orientation.w = 1.0
    tcp_pose = listener.transformPose(base_frame, tcp_pose)
    
    # Print the current pose of the TCP in the base frame
    rospy.loginfo("Current TCP pose in %s frame: %s", base_frame, tcp_pose.pose)
    
    # TODO: Add code here to prompt the user to move the TCP to a new position
    
    # Get the new pose of the TCP in the base frame
    tcp_pose_new = PoseStamped()
    tcp_pose_new.header.frame_id = tcp_frame
    tcp_pose_new.header.stamp = rospy.Time(0)
    tcp_pose_new.pose.orientation.w = 1.0
    tcp_pose_new = listener.transformPose(base_frame, tcp_pose_new)
    
    # Calculate the transformation between the old and new TCP poses
    transform = tf.transformations.inverse_matrix(tf.transformations.quaternion_matrix(tcp_pose.pose.orientation))
    transform = tf.transformations.concatenate_matrices(transform, tf.transformations.translation_matrix((tcp_pose.pose.position.x, tcp_pose.pose.position.y, tcp_pose.pose.position.z)))
    transform_new = tf.transformations.inverse_matrix(tf.transformations.quaternion_matrix(tcp_pose_new.pose.orientation))
    transform_new = tf.transformations.concatenate_matrices(transform_new, tf.transformations.translation_matrix((tcp_pose_new.pose.position.x, tcp_pose_new.pose.position.y, tcp_pose_new.pose.position.z)))
    transform = tf.transformations.concatenate_matrices(transform, tf.transformations.inverse_matrix(transform_new))
    
    # Print the calculated transformation between the old and new TCP poses
    rospy.loginfo("Calculated transformation between old and new TCP poses: %s", transform)
    
    return transform

该函数接受以下参数：

- `listener`：TF 监听器对象
- `base_frame`：基准坐标系，通常是机械臂的固定基座
- `tcp_frame`：末端执行器（TCP）的坐标系

该函数返回一个 4x4 的变换矩阵，表示从旧的 TCP 姿态到新的 TCP 姿态的变换。可以使用该变换矩阵来更新机械臂末端执行器的坐标系。