Software

easy_handeye

A ROS1 package with a GUI that performs hand-eye calibration between a robot and a tracking system, then publishes the result as a tf transform.

Facts

Checked on GitHub on 6 Nov 2026.

Code: LGPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE.md (opens in a new tab) at commit 5aa453b (opens in a new tab), on 22 Oct 2026. A license text Robotheca's reader does not know: a person at Robotheca set it on 9 Nov 2026.
Commercial use: Yes

Copyleft: Modified source must be published.

Samples the robot pose and tracking system output through tf to build calibration data.
Computes eye-on-base or eye-in-hand calibration matrices with the OpenCV implementation of the Tsai-Lenz algorithm.
Offers several calibration algorithms selectable in the UI: Tsai-Lenz, Park, Horaud, Andreff and Daniilidis.
Stores calibration results in yaml files and publishes them as tf transforms at each system startup.
Can optionally move a robot around a starting pose via MoveIt! to acquire samples, or accept freehand movement.
Includes launch files for calibrating, checking the calibration, and publishing it inside other launch files.

Written by Robotheca from the project's README (opens in a new tab) at commit 5aa453b, not by its creator.

Facts read at commit 5aa453b

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How to install it, in the creator's words: The project's README (opens in a new tab)

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