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fiducial_slam package from fiducials repo

aruco_detect fiducial_msgs fiducial_slam fiducials

Package Summary

Tags No category tags.
Version 0.10.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/UbiquityRobotics/fiducials.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-12-12
Dev Status DEVELOPED
Released RELEASED

Package Description

ROS node to build a 3D map of fiducials and estimate robot pose from fiducial transforms

Additional Links

No additional links.

Maintainers

  • Jim Vaughan
  • Rohan Agrawal

Authors

  • Jim Vaughan

fiducial_slam fiducial_slam_node.py

This node performs 3D Simultaneous Localization and Mapping (SLAM) from the fiducial transforms. For the mapping part, pairs of transforms are combined to determine the position of fiducials based on existing observations. For the localization part, fiducial transforms are combined with fiducial poses to estimate the camera pose (and hence the robot pose).

Documentation is on the ROS wiki.

CHANGELOG

Changelog for package fiducial_slam

0.10.0 (2018-10-13)

  • use sum in quadrature by default
  • Disable multifiducial estimate by default
  • Added a tool for fitting a plane
  • Add map_read_only param, publish camera_pose
  • Contributors: Jim Vaughan, Rohan Agrawal

0.9.0 (2018-09-12)

  • Merge pull request #112 from UbiquityRobotics/davecrawley-patch-1 Added in a systematic error parameter
  • fix missed rename alexy to sum in quadrature
  • Suggested changes
  • Updating the launch file to match the changes to map.cpp
  • Added in a systematic error parameter Added in a systematic error parameter. This parameter is intended to take in to account systematic (non-random) errors in the measurement of fiducial position. Non-random errors can be very pernicious, and can generate highly unexpected and difficult to resolve issues. For example if all the fiducials are slightly the wrong size this will not show up as a random variance. Similar systematic errors include, camera mis-calibration, sampling defects, digitization errors, lens flaring and so forth. Measurement accuracy in-homogeneity can also be considered a systematic error and this will also help with that issue although it probably should be treated explicitly rather than through this "hack". Ultimately the correct approach is to rigorously compute all these systematic errors and add them in to the model - we are simply saying that we think the systematic errors are less than the specified value.
  • Contributors: David Crawley, Rohan Agrawal

0.8.4 (2018-08-26)

  • Don't publish pose if camera position is not known
  • Update README.md
  • Contributors: Jim Vaughan, Rohan Agrawal

0.8.3 (2018-02-26)

  • Keep publishing map -> odom tf even if not fiducials are visible (#103)
  • Contributors: Jim Vaughan

0.8.2 (2018-02-14)

  • Add service call to clear the map
  • Contributors: Jim Vaughan

0.8.1 (2018-01-21)

Fixed fiducial_pose topic's frame_id from camera to map.

  • Contributors: Rohan Agrawal, nav-go

0.8.0 (2018-01-14)

0.7.5 (2017-12-06)

0.7.4 (2017-11-09)

  • Fix typos
  • Log full 6DOF pose for ALL and MUL
  • Pass previous rvec and tvec to solvePnP()
  • Added (multi) pose estimation to fiducial_slam (disabled by default)
  • Contributors: Jim Vaughan

0.7.3 (2017-07-16)

  • Install launch files and fiducials.rviz
  • add test of auto init
  • Print out 6DOF camera pose
  • Fix multiplication order bug in autoInit()
  • Renamed some variables to be more clear
  • Add publish_6dof_pose param to disable squashing of estimated robot pose
  • Contributors: Jim Vaughan

0.7.2 (2017-05-24)

  • Using std::isnan() to stop Debian Jessie build errors
  • Contributors: Jim Vaughan

0.7.1 (2017-05-22)

0.7.0 (2017-05-21)

  • Fix dependencies
  • Make sure that the variance sent to rviz doesn't truncate to 0
  • Rewrite the code in C++, kill the python
  • Fiducial transforms are always camera->fiducial
  • Moved all service and message definitions to fiducial_msgs
  • Contributors: Jim Vaughan, Rohan Agrawal

0.6.1 (2017-02-06)

0.6.0 (2017-02-04)

  • Split Python into separate files
  • Ddded median filter option
  • Better exception/handling
  • Contributors: Jim Vaughan, Rohan Agrawal

0.5.1 (2016-12-28)

  • Map pub srv (#36)

    • Added publishing of map (#28) and reset service call (#35)

    * Updated documentation

  • Contributors: Jim Vaughan

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/fiducial_rviz.launch
  • launch/fiducial_slam.launch
    • Run the fiducial_slam node
      • camera [default: /camera]
      • map_frame [default: map]
      • odom_frame [default: odom]
      • base_frame [default: base_link]
      • publish_tf [default: true]
      • future_date_transforms [default: 0.0]
      • publish_6dof_pose [default: false]
      • fiducial_len [default: 0.14]
      • systematic_error [default: 0.01]
      • do_pose_estimation [default: false]
  • test/create_map.xml
    • Verify that a map is created when a set of fiducual transforms is sent to fiducial_slam
  • test/create_map_aruco.xml
    • Verify that a map is constructed when a set of fiducual transforms is sent to fiducial_slam when an initial fiducial is specified
  • test/init_map_aruco.xml
    • Verify that a map is created when a set of fiducual transforms is sent to fiducial_slam and no initial map is specified

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fiducial_slam at answers.ros.org

Package Summary

Tags No category tags.
Version 0.0.2
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/UbiquityRobotics/fiducials.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-11-23
Dev Status DEVELOPED
Released RELEASED

Package Description

Hercules sensor fusion exploration

Additional Links

No additional links.

Maintainers

  • Jim Vaughan
  • Rohan Agrawal

Authors

  • Jim Vaughan
README
No README found. See repository README.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fiducial_slam at answers.ros.org

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