ROS2 Hand-Eye-Calibration

Questions & Answers
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1

General Information

  • Product: e.g. N45-604-16-IR
  • Serial Number: 229614
  • Ensenso SDK Version: 4.3.880
  • Operating System: Linux

Problem / Question

I want to hand-eye-calibrate the camera to my robot using ROS2 Humble.
I installed the NxLib according to ros_driver/docs/ROS2.md at master · ensenso/ros_driver · GitHub
Connecting the camera with “ros2 run ensenso_camera ensenso_camera_node” works fine “Opened camera with serial number ‘229614‘.

According to the docu (Making sure you're not a bot!) I need to launch the calibrate_handeye launch file like so:

roslaunch ensenso_camera \
    calbrate_hand_eye.launch \
    camera_serial:=<serial of camera> \
    robot_frame:=<tf frame of robot base> \
    wrist_frame:=<tf frame of pattern on the robot> \
    is_fixed:=true

With ros2 launch ensenso_camera I only see following launch files:

Screenshot from 2026-01-29 11-38-32
Screenshot from 2026-01-29 11-38-321106×161 42.2 KB

With ros2 run ensenso_camera I see following executables:

Screenshot from 2026-01-29 11-39-20
Screenshot from 2026-01-29 11-39-20830×116 28.7 KB

I assume I need to use ros2 run ensenso_camera calibrate_handeye which leaves me with the following error:

Screenshot from 2026-01-29 11-40-10
Screenshot from 2026-01-29 11-40-101170×592 196 KB

It seems there is a type mismatch?

Also, according to the manual (roslaunch … see above) I need to pass launch arguments, but how can I do that if I dont have a launch file called calbrate_hand_eye.launch in the ROS2 environment?

2

Hi @RomanHaas,

thanks for the report. There is indeed a bug in our ROS2 Python compatibility layer leading to the type mismatch error you observed. I pushed a fixed to ros2-fix-hac-script. You can check out this branch if you like. As soon as it passes the review it will be brought to master.

Regarding your question: You can always run the camera node in one terminal while calling the script in another, as you showed above. This is what the launch file would actually do if it existed. For ROS1, which required the roscore to be run additionally, this was very convenient. For ROS2 we decided to port only the basic launch files. You can probably create it yourself if you stick to the example launch files we provide.

Kind Regards
Benny

3

The fix has been merged into master. Let me know if you encounter any further problems.