Hello @burakaksoy, we’ve recently pushed some changes to the code you are using to calibrate the robot. Can you verify you have the latest software:
roscd stretch_core
git checkout master # use dev/noetic for Noetic release
git pull
If you are using our beta Noetic release, please use git checkout dev/noetic instead. If your software was out of date, then try the calibration again and your fit error should be under the 0.05 threshold.
Hi @bshah, we did updated to the latest software but we still have the same amount of error as in the question (0.23). We have another stretch robot in our lab, the calibration process works just fine for that one. Is it possible that the problem is not in the software but in the hardware?
Hi @burakaksoy, a hardware issue could explain the significant error, but I’d like to first confirm that there isn’t a simpler issue.
First, can you confirm that the robot isn’t capturing observations from the second robot’s Aruco markers during its own calibration procedure. Interference from the other robot’s markers could explain the unusually high error.
Second, please send the individual error terms of the latest calibration. You can find them in a YAML file called head_calibration_result_<timestamp>.yaml under ~/stretch_user/stretch-re1-xxxx/calibration_ros/. Within the newest results file, the best_parameters_error key tells us the overall fit error, and the best_parameters_error_terms dict tells us the individual fit errors. If one term had a particularly high error, it would help narrow down our search.