pkok / ros_aruco

ROS node that publishes the poses of detected ArUco markers.

ros_aruco

ROS node that publishes the poses of detected ArUco markers.

The node can handle multiple markers at once. It is inactive if no node is listening to its output topic.

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Required parameters:

• image_color: topic where the uncalibrated RGB camera image is broadcast.
• camera_info: topic where the camera broadcasts its parameters. At least K and D should be set. The software expects that the distortion_model is plumb_bob.
• marker_size: size of a single side of the ArUco marker, in meters.
• output: topic where the visualization_msgs/MarkerArray will be posted.

Some important values of each published visualization_msgs/Marker are:

• header: copy of the image in which the marker is detected
• ns: ros_aruco::ArucoDetector::MARKER_NS = "aruco"
• type: ros_aruco::ArucoDetector::MARKER_VISUALIZATION_TYPE = visualization_msgs::Marker::CUBE
• color: ros_aruco::ArucoDetector::MARKER_COLOR (50% gray with alpha = 50)
• id: the detected marker's id