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Cognex Demo

Block Diagram

Block Diagram

Target Preparation

  • I have included a copy of the 5x5 modified circle grid from ROS-I's Industrial Calibration repository. It can be found in the support directory.
  • Because the PLC was only set up for 20 points, I cut off the 5 points furthest in the x direction.
  • Make sure the PDF is printed off to-scale, or it will throw off the target-finder.

Further Work

To substitute the basler for a cognex

  • Change the expected number of points being loaded from the plc (basically do a find and replace for 20)
  • There is a simple node to publish a CameraInfo message with the cognex intrinsics in the launch file, but it needs to be uncommented.
  • Update the relative positions in either the plc_initializer node or directly in the PLC