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Aruco Detector

ROS package for detecting aruco markers with RGB and RGBD cameras.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Prerequisites

What things you need to install the software and how to install them. Presumes you are using ~/catkin_ws as ROS workspace, if you are not make adjustments where required.

1) ROS Noetic

2) Install master version of cares_msgs: https://github.com/UoA-CARES/cares_msgs.git
   
3) Install tf2 ros messages: sudo apt-get install ros-noetic-tf2-sensor-msgs

Installing

A step by step series of examples that tell you how to get a development env running

Clone the package into the catkin directory you are using, presumed here to be "~/catkin_ws"

cd ~/catkin_ws/src
git clone https://github.com/maraatech/aruco_detector.git

Build the package with catkin_make in the source directory

cd ~/catkin_src/
catkin_make

Running the tests

Tests to be added

Applications

Marker Types Support

These package supports detection of the three marker types:

  • Aruco: mono, stereo, depth
  • Diamond Aruco: stereo, depth
  • Charuo: mono

RGB Detector

ROS node that will detect aruco markers in an RGB image and publish the pose transform relative to the color frame.

Subscribed Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • sensor_msgs::Image
    • RGB image: /camera/color/image_raw
    • Depth aligned image: /camera/aligned_depth_to_color/image_raw
  • sensor_msgs::CameraInfo
    • Camera info: camera/color/camera_info
Published Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • geometry_msgs::PoseArray
    • Marker Poses : markers
Broadcast Transforms

Broadcast pose of the markers

  • geometry_msgs::TransformStamped
    • Pose of each marker N: "ns_MARKER_TYPE_N"

Depth Detector

ROS node that will detect aruco markers in RGBD data and publish the pose transform relative to the depth frame.

Subscribed Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • sensor_msgs::Image
    • RGB image: /camera/color/image_raw
    • Depth aligned image: /camera/aligned_depth_to_color/image_raw
  • sensor_msgs::CameraInfo
    • Camera info: camera/color/camera_info
Published Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • geometry_msgs::PoseArray
    • Marker Poses : markers
Broadcast Transforms

Broadcast pose of the markers

  • geometry_msgs::TransformStamped
    • Pose of each marker N: "ns_MARKER_TYPE_N"

Stereo Detector

ROS node that will detect aruco markers in stereo RGB data (undistorted currently) and publish the pose transform relative to the left frame. Node can also be run as an aruco diamond detector.

Subscribed Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • sensor_msgs::Image - NOTE must be rectified images
    • Left RGB image: /camera/color/image_raw
    • Right RGB image: /camera/color/image_raw
  • maara_msgs::StereoInfo
    • Stereo Info: /stereo/stereo_info
Published Topics

Topic names are all default names, they can be changed via setting parameters in the launch file.

  • geometry_msgs::PoseArray
    • Marker Poses : markers
Broadcast Transforms

Broadcast pose of the markers

  • geometry_msgs::TransformStamped
    • Pose of each marker N: "ns_MARKER_TYPE_N"

Marker Detector Services

Stereo and depth camera based marker detection can be run as a service as well.

Service Message

  • cares_msgs/ArucoDetect.srv

Version

Version 1.0

Authors

  • Henry Williams

License

TBD

Acknowledgments

Ben and Chris for figuring out the pose geometry for the depth calculation