### Build Workspace

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Build your ROS workspace after cloning the repository and installing dependencies.

```bash
colcon build
```

--------------------------------

### Install Dependencies

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Install ROS dependencies for the easy_handeye2 package. Ensure you are in the root of your workspace.

```bash
cd ..  # now we are inside ~/easy_handeye2_ws
rosdep install -iyr --from-paths src
```

--------------------------------

### Publish Multiple Calibrations

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Include the publish.launch.py script multiple times to publish several calibrations simultaneously. Ensure distinct namespaces are used for each calibration.

```xml
<launch>
  <!-- (start your robot's MoveIt! stack, e.g. include its moveit_planning_execution.launch) -->
  <!-- (start your tracking system's ROS driver) -->

  <include file="$(find easy_handeye2)/launch/publish.launch.py">
    <arg name="name" value="my_eob_calib"/> <!-- use the same name that you used during calibration! -->
  </include>
  <include file="$(find easy_handeye2)/launch/publish.launch.py">
    <arg name="name" value="my_eih_calib"/> <!-- use the same name that you used during calibration! -->
  </include>
</launch>
```

--------------------------------

### Include Eye-in-Hand Calibration Launch File

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Include the calibrate.launch.py for eye-in-hand calibration in your custom launch file. Ensure to set the correct TF reference frames for your robot and tracking system.

```xml
<launch>
  <!-- (start your robot's MoveIt! stack, e.g. include its moveit_planning_execution.launch.py) -->
  <!-- (start your tracking system's ROS driver) -->

  <include file="$(find easy_handeye2)/launch/calibrate.launch.py">
    <arg name="calibration_type" value="eye_in_hand"/>

    <!-- you can choose any identifier, as long as you use the same for publishing the calibration -->
    <arg name="name" value="my_eih_calib"/>

    <!-- fill in the following parameters according to your robot's published tf frames -->
    <arg name="robot_base_frame" value="/base_link"/>
    <arg name="robot_effector_frame" value="/ee_link"/>

    <!-- fill in the following parameters according to your tracking system's published tf frames -->
    <arg name="tracking_base_frame" value="/optical_origin"/>
    <arg name="tracking_marker_frame" value="/optical_target"/>
  </include>
</launch>
```

--------------------------------

### Include Eye-on-Base Calibration Launch File

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Include the calibrate.launch.py for eye-on-base calibration in your custom launch file. Ensure to set the correct TF reference frames for your robot and tracking system.

```xml
<launch>
  <!-- (start your robot's MoveIt! stack, e.g. include its moveit_planning_execution.launch) -->
  <!-- (start your tracking system's ROS driver) -->

  <include file="$(find easy_handeye2)/launch/calibrate.launch.py">
    <arg name="calibration_type" value="eye_on_base"/>
    <arg name="name" value="my_eob_calib"/>

    <!-- fill in the following parameters according to your robot's published tf frames -->
    <arg name="robot_base_frame" value="/base_link"/>
    <arg name="robot_effector_frame" value="/ee_link"/>

    <!-- fill in the following parameters according to your tracking system's published tf frames -->
    <arg name="tracking_base_frame" value="/optical_origin"/>
    <arg name="tracking_marker_frame" value="/optical_target"/>
  </include>
</launch>
```

--------------------------------

### Clone Repository

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Clone the easy_handeye2 repository into your catkin workspace's src directory.

```bash
cd ~/easy_handeye2_ws/src  # replace with path to your workspace
git clone https://github.com/marcoesposito1988/easy_handeye2
```

--------------------------------

### Enable Freehand Robot Movement for Calibration

Source: https://github.com/marcoesposito1988/easy_handeye2/blob/master/README.md

Optionally enable freehand robot movement during calibration by setting 'freehand_robot_movement' to true. This requires the robot to publish its own pose into TF.

```xml
<launch>
  <include file="$(find easy_handeye2)/launch/calibrate.launch.py">
      <!-- other arguments, as described above... -->
      
      <arg name="freehand_robot_movement" value="true" />
  </include>
</launch>
```

=== COMPLETE CONTENT === This response contains all available snippets from this library. No additional content exists. Do not make further requests.