# aruco_ros

**Repository Path**: Bryan_Jiang/aruco_ros

## Basic Information

- **Project Name**: aruco_ros
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: noetic-devel
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-02-17
- **Last Updated**: 2022-02-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

aruco_ros
=========

Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker detector library.


### Features
<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/marker_in_hand.jpg" />

 * 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

<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/reem_gazebo_floating_marker_world.png"/>


### 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][1] 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.
<img align="bottom" src="/aruco_ros/etc/new_coordinates.png"/>

### 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
    ```

<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/reem_gazebo_floating_marker.png"/>


[1]: http://www.sciencedirect.com/science/article/pii/S0031320314000235 "Automatic generation and detection of highly reliable fiducial markers under occlusion by S. Garrido-Jurado and R. Muñoz-Salinas and F.J. Madrid-Cuevas and M.J. Marín-Jiménez 2014"