53 lines
2.0 KiB
Markdown
53 lines
2.0 KiB
Markdown
# Aruco detector
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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.
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This project was created as an project thesis (MSY-Master).
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## Requirements
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- Transforms3D
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For computing the pose the node requires this library. A detailed description can be found on: https://matthew-brett.github.io/transforms3d/)
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pip install transforms3d
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- usb_cam
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Usb_cam is a frequently used ros driver for V4L USB cameras. A detailed description can be found here: http://wiki.ros.org/usb_cam
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sudo apt get install ros-<ros2-distro>-usb-cam
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Important: It's necessary to work with compressed images. Therefor you can use the image_transport library. A detailed description can be found here: http://wiki.ros.org/image_transport
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## Running the code
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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:
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- aruco_detector_node
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- usb_cam
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- rqt_image_view
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cd launch/
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ros2 launch aruco_launch.py
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An overview about the running topics is illustrated in the next picture.
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## Output
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- topic: `/aruco/aruco_poses`
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The aruco_detector_node publishes a custom ros2 message.
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int64[] marker_ids
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geometry_msgs/Pose[] poses
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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 .
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- topic: `/aruco/aruco_output_images/compressed`
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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.
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