Robot_Mounted_with_Aruco_Marker
This repository show how to mounted a aruco marker on a robot.
Package.xml
you need to make the media file visable by gazebo_media, so put the following line in your package.xml (turtlebot3_descriptions/package.xml)
<depend>gazebo_ros</depend>
<export>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
</export >
URDF or Xacro
Make the aruco marker image show on your robot, you need to add following line
<gazebo reference="aruco_link">
<material>aruco_fam4x4_1000_id25_sdf/Image</material>
</gazebo>
Add the Aruco marker fixed above your robot. you can change the xyz to your desired position
</link>
<joint name="aruco_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="aruco_link"/>
</joint>
<link name="aruco_link">
<inertial>
<mass value="0"/>
<origin xyz="-0.019662 0.011643 0.5"/>
<inertia
ixx="0.01042" ixy="0.001177" ixz="-0.0008871"
iyy="0.01045" iyz="0.0002226"
izz="0.01817"/>
</inertial>
<visual>
<origin xyz="0 0 0.4" rpy="0 0 0"/>
<geometry>
<box size="0.36 0.36 0"/>
</geometry>
</visual>
</link>
