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  1. # Aruco detector
  2. With this ROS2-Node can be determined the pose of different ArUco Markers. The goal of this project was to attach a marker on different robots, and get the absolute positions and orientations via a camera on the ceiling. However, this localization can also be applied to any other arbitary object.
  3. This project was created as an project thesis (MSY-Master).
  4. ![Bild 1](./Images/Aruco_robot.jpg "ArUco Marker attached on robot")
  5. ## Requirements
  6. - Transforms3D
  7. For computing the pose the node requires this library. A detailed description can be found on:
  8. pip install transforms3d
  9. - usb_cam
  10. Usb_cam is a frequently used ros driver for V4L USB cameras. A detailed description can be found here:
  11. sudo apt get install ros-<ros2-distro>-usb-cam
  12. Important: It's necessary to work with compressed images. Therefor you can use the image_transport library. A detailed description can be found here:
  13. ## Running the code
  14. For an easy start there is already created a launch file. All required parameters can be set and edited centrally here. The launch-file starts:
  15. - aruco_detector_node
  16. - usb_cam
  17. - rqt_image_view
  18. cd launch/
  19. ros2 launch
  20. An overview about the running topics is illustrated in the next picture.
  21. ![Bild 1](./Images/Topics.jpg "started topics")
  22. ## Output
  23. - topic: `/aruco/aruco_poses`
  24. The aruco_detector_node publishes a custom ros2 message.
  25. int64[] marker_ids
  26. geometry_msgs/Pose[] poses
  27. The array `marker_ids` contains all detected ids of the ArUco Markers. The array `poses` contains all poses of the detected ArUco Markers. This message will be published to the topic .
  28. - topic: `/aruco/aruco_output_images/compressed`
  29. To this topic will be published the output images. In this images the detected ArCuo Marker is highlighted and the pose is drawn using a coordinate system.
  30. ![Bild 1](./Images/Output_pic.jpg "started topics")