ipa-rar / ar_marker_detector

ROS package to get the AR marker pose using the camera

ar_marker_detector

ROS package to get the AR marker pose using the camera

camera_static_tf

To get the transform of the camera frame with respect to the robot frame

• broadcast of type StaticTransformBroadcaster()
• Broadcasts geometry_msgs.msg.TransformStamped()

get_marker_pose

To calculate the pose of the marker using the camera

• Subscribe to topic ar_pose_marker of type AlvarMarkers
• Service /getMarkerPose of type getMarkerPose
• Publishes Pose of the marker of type Pose

get_twomarker_pose

To calculate the pose of the marker using the camera

• Subscribe to topic ar_pose_marker of type AlvarMarkers
• Service /getPickPose of type getMarkerPose
• Service /getPlacePose of type getMarkerPose
• Publishes Pose of the marker of type Pose

Architecture

Usage

• roslaunch ar_marker_detector marker_detector.launch For getting the pose of one Marker(Pick location only)
• roservice call /getMarkerPose For getting the pose of two Marker(Pick and Place location)
• rosservice call /getPickPose "ar_marker_id: 0"
• rosservice call /getPlacePose "ar_marker_id: 2" Note: ar_marker_id = [0,8] for our task

Results