38 lines
1.2 KiB
Markdown
38 lines
1.2 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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## 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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## Outputs
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