Issues Calibrating with Zed2 Camera.

[jide07]

I am trying to calibrate using Franka arm with the zed2 camera. This first problem is knowing which branch of the tf tree from zed2 I want to attach with the panda_link8(pand_hand), I am doing eye-in-hand calibration,
Here is what the zed2 tree looks like

I have tried to link pand_link8 with both base_link and zed2_base_link. after getting the calibrated result, and I publish the static transform, the zed2 tree get disconnected, the map->odom part of the tree is required for the zed camera to work(I assume), so I linked the panda_link0 to the map of zed2.

I got the calibration results but the arm is not moving, so I assume the calibration with map is wrong?

Here's my question
Is the calibration result wrong and how do I know here what I have

  <!-- The rpy in the comment uses the extrinsic XYZ convention, which is the same as is used in a URDF. See
       http://wiki.ros.org/geometry2/RotationMethods and https://en.wikipedia.org/wiki/Euler_angles for more info. -->
  <!-- xyz="0.0183375 -0.278508 -0.223526" rpy="3.10416 -0.0439826 0.0656729" -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="camera_link_broadcaster"
      args="0.0183375 -0.278508 -0.223526   0.999031 -0.0332282 -0.0213595 0.0194235 panda_hand map" />
</launch>

Why is this code not working

import sys
import rospy
import moveit_commander
import tf2_ros
import geometry_msgs.msg
from geometry_msgs.msg import Pose
from tf2_geometry_msgs import do_transform_pose

# Global variable to store the last pose to compare with the new pose
last_pose = None
threshold = 0.01  # Minimum movement distance (in meters)

def move_to_goal(target_pose, move_group):
    # Set the target pose for the arm and execute the movement
    move_group.set_pose_target(target_pose)
    rospy.loginfo("Planning the trajectory")
    plan = move_group.go(wait=True)

    if plan:
        rospy.loginfo("Move command executed successfully")
    else:
        rospy.logwarn("Move command failed")

    # Clear the target to allow for future movements
    move_group.stop()
    move_group.clear_pose_targets()

def callback(msg, args):
    move_group, tf_buffer = args  # Unpack the arguments

    global last_pose
    detected_pose = msg  # Keep the PoseStamped message as it is

    rospy.loginfo("Received detected pose: Position (x: %f, y: %f, z: %f), Orientation (x: %f, y: %f, z: %f, w: %f)",
                  detected_pose.pose.position.x, detected_pose.pose.position.y, detected_pose.pose.position.z,
                  detected_pose.pose.orientation.x, detected_pose.pose.orientation.y, detected_pose.pose.orientation.z, detected_pose.pose.orientation.w)

    try:
        # Transform the pose
        transform = tf_buffer.lookup_transform('panda_link0', 'map', rospy.Time(0), rospy.Duration(1.0))
        transformed_pose = do_transform_pose(detected_pose, transform)  # Pass the full PoseStamped object

        rospy.loginfo("Transformed pose: Position (x: %f, y: %f, z: %f), Orientation (x: %f, y: %f, z: %f, w: %f)",
                      transformed_pose.pose.position.x, transformed_pose.pose.position.y, transformed_pose.pose.position.z,
                      transformed_pose.pose.orientation.x, transformed_pose.pose.orientation.y, transformed_pose.pose.orientation.z, transformed_pose.pose.orientation.w)

        if last_pose is None:
            last_pose = transformed_pose.pose
            move_to_goal(transformed_pose.pose, move_group)
        else:
            distance = ((last_pose.position.x - transformed_pose.pose.position.x) ** 2 +
                        (last_pose.position.y - transformed_pose.pose.position.y) ** 2 +
                        (last_pose.position.z - transformed_pose.pose.position.z) ** 2) ** 0.5

            if distance > threshold:
                last_pose = transformed_pose.pose
                move_to_goal(transformed_pose.pose, move_group)
            else:
                rospy.loginfo("No significant movement detected, skipping arm movement.")

    except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e:
        rospy.logerr("TF Error: %s", str(e))


def listener():
    # Initialize the moveit_commander and rospy node
    moveit_commander.roscpp_initialize(sys.argv)
    rospy.init_node('move_robot', anonymous=True)

    # Initialize the MoveGroupCommander for the arm
    group_name = "panda_arm"  # Adjust if needed
    move_group = moveit_commander.MoveGroupCommander(group_name)

    # Initialize TF2 listener
    tf_buffer = tf2_ros.Buffer()
    tf_listener = tf2_ros.TransformListener(tf_buffer)

    # Subscribe to the detected object position topic
    # rospy.Subscriber("/detected_object_position", geometry_msgs.msg.PoseStamped, callback, (move_group, tf_buffer))
    rospy.Subscriber("/detected_object_position", geometry_msgs.msg.PoseStamped, callback, (move_group, tf_buffer))


    rospy.spin()

if __name__ == "__main__":
    listener()

Thank you