fjulian / uq_aruco_gazebo

ArUco Tags in Gazebo

This is an example of how to include ArUco tags in Gazebo.

To try this, clone into a ROS1 workspace (tested with ROS Noetic on Ubuntu 20.04), build, then run

roslaunch uq_aruco_gazebo gazebo.launch

The model of the cuboid is parameterized. From the launch file, you can update

• the pose of the cuboid the ArUco tag is attached to, by updating the arguments passed to the spawn nodes
• the dimensions of the cuboid, by passing dim_x:=0.2 to the xacro parsing (e.g. line 18 in gazebo.launch)
• the tag ID, by changing tag_id:=<ID> to the xacro parsing. For this to work, the file 6x6_1000_<ID>.png is expected to be located in resources/media/materials/textures.

Helpful links:

• https://classic.gazebosim.org/tutorials?tut=components
• https://answers.ros.org/question/251455/how-do-i-add-texturepng-file-in-urdf/