Calibration with camera in hand

[aashish-tud]

Hello,

I have a 3D camera mounted on the tip of a 6 DOF manipulator. I want to calibrate the transform between the camera frame and the robot's tip. To achieve this my plan is:

• Place a checkerboard pattern on the table, in front of the robot.
• Move the camera to 4-6 different poses where the checkerboard is being detected.
• Set frame for manipulator group as the tip of the manipulator and frame for camera as the camera_frame in the optimization.yaml

However, on reading the "intended" use case in chains.h and Andy's question it appears that the checkerboard should be connected to the end of the manipulator. Is this correct?
If so, then is it possible to calibrate the transform between camera and robot tip if the camera is mounted on the robot using robot_calibration package?

[peterdavidfagan]

@aashish-tud I am addressing a similar setup in the following issue, will post details once complete.