aruco_ros repository

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-09-17
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aruco 2.1.1
aruco_msgs 2.1.1
aruco_ros 2.1.1

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Kinetic changes

  • Updated the Aruco library to version 3.0.4

  • Changed the coordinate system to match the library's, the convention is shown in the image below, following rviz conventions, X is red, Y is green and Z is blue.

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-08-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aruco 0.2.4
aruco_msgs 0.2.4
aruco_ros 0.2.4

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

Generate markers

rosrun aruco optimalmarkers

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aruco 0.2.2
aruco_msgs 0.2.2
aruco_ros 0.2.2

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-02-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aruco 0.2.2
aruco_msgs 0.2.2
aruco_ros 0.2.2

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

  • High-framerate tracking of AR markers

  • Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)

  • Enhanced precision tracking by using boards of markers

  • ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/pal-robotics/aruco_ros.git
VCS Type git
VCS Version master
Last Updated 2016-10-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
aruco 0.0.1
aruco_msgs 0.0.1
aruco_ros 0.0.1

README

aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

Features

* High-framerate tracking of AR markers * Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track) * Enhanced precision tracking by using boards of markers * ROS wrappers

Applications

  • Object pose estimation
  • Visual servoing: track object and hand at the same time

ROS API

Messages

  • aruco_ros/Marker.msg

    Header header
    uint32 id
    geometry_msgs/PoseWithCovariance pose
    float64 confidence
    
  • aruco_ros/MarkerArray.msg

    Header header
    aruco_ros/Marker[] markers
    

Test it with REEM

  • Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
    roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker

  • Launch the image_proc node to get undistorted images from the cameras of the robot.
    ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image

  • Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"

the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
    roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link

  • Visualize the result
    rosrun image_view image_view image:=/aruco_single/result

CONTRIBUTING

No CONTRIBUTING.md found.