STag ROS: A ROS package for the Stable Fiducial Marker System

Currently supporting ROS Kinetic, Melodic and Noetic. Select the branch that matches your ROS distribution.

This package is developed independently from the creators of STag

Original STag source and marker generation script

Publications

If you find this library useful, please cite our paper:

• M. Kalaitzakis, B. Cain, S. Carroll, A. Ambrosi, C. Whitehead, N. Vitzilaios, Fiducial Markers for Pose Estimation, Journal of Intelligent & Robotic Systems 101, (2021)

@article{Kalaitzakis2021JINT,
  title = {Fiducial Markers for Pose Estimation},
  author = {Michail Kalaitzakis and Brennan Cain and Sabrina Carroll and Anand Ambrosi and Camden Whitehead and Nikolaos Vitzilaios},
  journal = {Journal of Intelligent {\&} Robotic Systems},
  volume = {101},
  doi = {10.1007/s10846-020-01307-9},
  year = {2021},
}

Original STag marker paper:

• B. Benligiray, C. Topal, C. Akinlar, STag: A stable fiducial marker system, Image and Vision Computing 89, (2019)

Installation

Follow these steps to install

Prerequisites

This assumes you already have ROS installed on your device.

Install STag ROS

mkdir -p /path/to/catkin_ws/src
cd /path/to/catkin_ws/src
git clone git@github.com:usrl-uofsc/stag_ros.git

Build STag ROS

catkin_make

Build STag ROS with Debug information (alternative)

catkin_make -DCMAKE_BUILD_TYPE=Debug

Package configuration

To use the package you need to edit the node config file (e.g. cfg/single.yaml) that loads all the parameters and the marker config file (e.g. cfg/single_config.yaml).

STag config file

In the configuration file you can specify information about the STag configuration, the camera topics and the stag_ros node.

Marker config Yaml file

STag ROS allows the detection of multiple markers and marker bundles as long as they all are from the same HD family. You can specify the individual markers and the marker bundles in a yaml file

Examples

First source the workspace.

source /path/to/catkin_ws/devel/setup.bash (or your shell ex. sh, zsh)

Next, download the example bags. If you want to install, be sure to catkin_make, then run the following command, then catkin_make install. If the script fails, please go into the scripts/download_bags.sh file and download the bags manually. Place them into a folder in the root of the stag_ros directory called bags.

roslaunch stag_ros download_examples.launch

Run any of the following launch commands.

roslaunch stag_ros stagNode_single.launch
roslaunch stag_ros stagNode_bundle_2.launch
roslaunch stag_ros stagNode_bundle_4.launch
roslaunch stag_ros stagNodelet_single.launch
roslaunch stag_ros stagNodelet_bundle_2.launch
roslaunch stag_ros stagNodelet_bundle_4.launch

Changelog for package stag_ros

0.3.9 (2021-05-03)

• Merge pull request #11 from janfelixklein/patch-1 Update README.md
• added dependency on generated type to node(let)
• Update README.md
• Updated readme
• Updated readme 2
• Updated readme
• Updated package.xml
• Contributors: Brennan Cain, Mike Kalaitzakis, MikeK4y, janfelixklein

0.3.8 (2021-03-19)

• Added message_runtime dependency
• Added message_generation dependency
• Added custom messages and publishing results as an array
• Update README.md
• Added ros buildfarm status
• Contributors: Brennan Cain, MikeK4y

0.3.7 (2020-12-14)

• increased cmake version
• removed reference to nodelet implementation in runnable. fixed nodelet namespacing warning
• removed old tag configuration
• added libraryhd exception handling to nodelet
• Solved pose overwrite for multiple markers
• added exception checking for the HD for stag
• Fixed single launch file
• bumped melodic branch to 0.2.0
• added URLS to package xml
• Contributors: Brennan Cain, Mike Kalaitzakis, MikeK4y

0.3.6 (2020-12-01)

0.3.5 (2020-12-01)

• Merge branch 'melodic-devel' into noetic-devel
• removed installation of bags directory, requires downloading bags first which is bad on the build farm
• added checking that the output folder is not empty, bad to save to root (if someone wants that, that's their problem)
• removed dependence on opencv4.2, should now work with 3.2 and 4.2
• Updated READMe
• Fixed download_examples.launch
• Fixed download_examples.launch
• Contributors: Brennan Cain, MikeK4y

0.3.4 (2020-11-17)

• Merge branch 'melodic-devel' into noetic-devel
• removed bags and added download script
• Contributors: Brennan Cain

0.3.3 (2020-11-16)

• Merge branch 'melodic-devel' into noetic-devel
• removed dependence on swri_nodelet
• Contributors: Brennan Cain

0.3.2 (2020-11-13)

• Updated changelog
• changed version to 0.3.1
• Contributors: Brennan Cain
• changed version to 0.3.1
• Contributors: Brennan Cain

0.0.1 (2020-11-13)

• added swri_nodelet to package.xml
• Merge remote-tracking branch 'origin/noetic-devel' into noetic-devel
• Changed files to match Yaml changes
• Looks like it's working. Do more tests
• Changed files to match Yaml changes
• renamed for hopefully better quality and changed launch files
• yaml loading successful on single tag
• Looks like it's working. Do more tests
• Changed files to match Yaml changes
• beginning move, invalid return from parameter server
• Looks like it's working. Do more tests
• Changed files to match Yaml changes
• Looks like it's working. Do more tests
• Changed files to match Yaml changes
• added yaml config files
• renamed for hopefully better quality and changed launch files
• yaml loading successful on single tag
• Looks like it's working. Do more tests
• Changed files to match Yaml changes
• beginning move, invalid return from parameter server
• Added function to check if points are coplanar
• Looks like it's working. Do more tests
• Found the ED functions used by STag and commented out the rest to start updating the ones we need
• Moved to release and added installation
• Changed files to match Yaml changes
• Looks like it's working. Do more tests
• removed lingering references to json and bundle generation
• removed lingering references to json and bundle generation
• Merge remote-tracking branch 'origin/noetic-devel' into noetic-devel # Conflicts: # launch/stagNode_single.launch # launch/stagNodelet_single.launch
• Changed files to match Yaml changes
• beginning move, invalid return from parameter server
• Added function to check if points are coplanar
• Looks like it's working. Do more tests
• Found the ED functions used by STag and commented out the rest to start updating the ones we need
• Updated README
• Fixed config files
• Changed files to match Yaml changes
• Changed files to match Yaml changes
• removed bundle_gen config (unused)
• removed old json files
• updated launch files for yaml
• added yaml config files
• renamed for hopefully better quality and changed launch files
• added change to nodelet
• single node successful
• yaml loading successful on single tag
• beginning move, invalid return from parameter server
• removed bundle_generator. was unimplemented
• removed bundle_gen config (unused)
• removed old json files
• updated launch files for yaml
• added yaml config files
• renamed for hopefully better quality and changed launch files
• added change to nodelet
• single node successful
• yaml loading successful on single tag
• Added function to check if points are coplanar
• beginning move, invalid return from parameter server
• removed bundle_generator. was unimplemented
• Looks like it's working. Do more tests
• Found the ED functions used by STag and commented out the rest to start updating the ones we need
• Changed the configuration. Moved publishing to common
• Updated README for git-lfs installation for earlier Ubuntu versions
• beginning work on bundle generator
• beginning work on bundle generator
• added nodelet documentation
• added additional nodelet launch files
• Merge remote-tracking branch 'origin/master'
• adding nodelet fixes and launch files
• fixed git lfs documentation
• added documentation
• removed message generation
• pathing is all local and examples should work out of the box
• added bags into git lfs
• renamed launch and config files to provide multiple examples
• mirroring node and nodelet
• fixed clang-format file
• added cmake default directory to gitignore
• Removed imaes and scripts folders
• Removed comments from package.xml
• Removed old STag messages
• Remove duplicate markers now uses the projective distortion. Reduced quad duplicates
• Fixed typo
• Update README.md
• Update README.md
• Update README.md
• Added more info in the README
• Cleaned up code. Added Instrunment inside DEBUG
• Used clang-format on our code
• Changed config files to meters
• Fixed async. Results look ok now
• Node is up to speed with nodelet
• Bug fixes. Nodelet works but pose results are wrong
• Bug fixes
• added local file to gitignore
• removed unnecessary depend, good for catkin build
• added a lil documentation
• add license, renamed tag_json_loader
• Added bundle config files
• Fixed some warnings
• added utility header
• reorganized to reflect tighter coupling
• removed build from repo
• Restructuring
• fixed package.xml
• added async, moved to double
• added bundle support, removed markers in nodelet
• added tf w/ tf added to bag, instrumentation
• added image methods, move to swri nodelet
• added nodelet, moved stag to a library
• added namespacing to node
• formatted files with clang-format
• added clang format
• added bag launch file
• added rviz configuration
• added gitignore
• bug fix
• Covid19 quarantine push
• Removed duplicate markers
• ROS node working and publish marker pose
• Added msgs cfg launch files and other stuff
• First ROS node test
• Added CMake file and changed a few parts to run with OCV 4 on Linux
• Merge pull request #7 from bbenligiray/add-license-1 Create LICENSE
• Create LICENSE
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Update README.md
• Added ED
• refactored all
• added paper link
• initial commit
• Create README.md
• Contributors: Brennan Cain, Burak Benligiray, MikeK4y, bbenligiray