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robot_calibration

  • Software
  • Perception
  • Tool

A set of ROS 2 nodes for calibrating robot parameters such as camera intrinsics and extrinsics, joint offsets and frame offsets, plus mobile-base scaling and magnetometer hard-iron offsets.

Source on GitHub: github.com/mikeferguson/robot_calibration (opens in a new tab). Facts read at commit 293535b (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 293535b (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • The main calibrate node captures joint positions and sensor observations at several poses, then optimizes robot parameters to minimize reprojection errors.
  • Outputs are an updated URDF with joint offsets and frame changes, or an updated camera calibration YAML for intrinsics.
  • Capture is configured through YAML files listing kinematic chains and feature finders such as checkerboard, LED, plane and laser scan finders.
  • Calibration is configured through YAML defining models, free parameters and frames, error blocks and multi-step calibration.
  • A base_calibration_node estimates scaling factors for wheel diameter, track width and gyro gain by moving the robot toward a wall.
  • A magnetometer_calibration node records magnetometer data to compute hard-iron bias offsets for use as a compass.

Written by Robotheca from the project's README (opens in a new tab) at commit 293535b.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
10 Aug 2026 on ros2
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.