Can't get aruco_maker frame

[cygreat7]

I run the launch file and look at the tf tree frames.pdf I can't get the aruco_marker frame. so I tried to run the aruco_ros package separately.

roslaunch kinect2_bridge kinect2_bridge.launch roslaunch aruco_ros single.launch rosrun image_view image_view image:=/aruco_single/result

I can get the marker information.

But I still can't get the pose.

Thank you very much for your advice.

[ghost]

Hey,

this worked for me:

1. start you camera launcher

2. start the handeye launch-file, here is mine:

   <launch>
   <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />
   <arg name="robot_ip" doc="The IP address of the UR5 robot" />
   <arg name="marker_size" value="0.1" doc="Size of the ArUco marker used, in meters" />
   <arg name="marker_id" value="12" doc="The ID of the ArUco marker used" />
   <!-- start the Kinect -->
   <include file="$(find perception)/launch/primesense.launch" >
       <arg name="depth_registration" value="true" />
   </include>
   <node name="aruco_tracker" pkg="aruco_ros" type="single">
       <remap from="/camera_info" to="/primesense/rgb/camera_info" />
       <remap from="/image" to="/primesense/rgb/image_raw" />
       <param name="image_is_rectified" value="true"/>
       <param name="marker_size"        value="0.1"/>
       <param name="marker_id"          value="12"/>
       <param name="reference_frame"    value="primesense_link"/>
       <param name="camera_frame"       value="primesense_rgb_optical_frame"/>
       <param name="marker_frame"       value="camera_marker" />
   </node>
   <!-- start the robot -->
   <include file="$(find ur_modern_driver)/launch/ur5_bringup_joint_limited.launch">
       <arg name="robot_ip" value="192.168.117.117" />
   </include>
   <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
       <arg name="limited" value="true" />
   </include>
   <!-- start easy_handeye -->
   <include file="$(find easy_handeye)/launch/calibrate.launch" >
       <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
       <arg name="eye_on_hand" value="true" />
   
       <arg name="tracking_base_frame" value="primesense_link" />
       <arg name="tracking_marker_frame" value="camera_marker" />
       <arg name="robot_base_frame" value="base_link" />
       <arg name="robot_effector_frame" value="ee_link" />
   
       <arg name="freehand_robot_movement" value="true" />
       <arg name="robot_velocity_scaling" value="0.1" />
       <arg name="robot_acceleration_scaling" value="0.1" />
   </include>
   </launch>

3. In a new terminal: rosrun image_view image_view image:=/aruco_tracker/result

[cygreat7]

Thankyou for your reply .I can recognize the marker,but I can't get the marker frame

At 2018-12-21 07:19:43, "ForsenCD" notifications@github.com wrote:

Hey,

this worked for me:

start you camera launcher

start the handeye launch-file, here is mine:

In a new terminal: rosrun image_view image_view image:=/aruco_tracker/result

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or mute the thread.

[zhanghengsjtu]

Hello: I have met the same problem, but now I have solve it. First, please modify the parameter in the demo launch file in easy_handeye/docs/example_launch/ur5_kinect_calibration.launch and make sure it is right. The answer above gives another example. Second, print the aruco in this website http://chev.me/arucogen/ and pls choose Original Aruco. If you choose other aruco, i think this package won't recognize it. Third, add these to the launch file, it can publish the frame u want.

<node pkg="aruco_ros" type="marker_publisher" name="aruco_marker_publisher">
    <remap from="/camera_info" to="/cameras/rgb/camera_info" />
    <remap from="/image" to="/camera/rgb/image_rect_color" />
    <param name="image_is_rectified" value="True"/>
    <param name="marker_size"        value="$(arg marker_size)"/>
    <param name="reference_frame"    value="camera_link"/>   <!-- frame in which the marker pose will be refered -->
    <param name="camera_frame"       value="$camera_rgb_optical_frame"/>
</node>

It is the final launch file i used.

[marcoesposito1988]

Closing for inactivity. If the problem persists, please comment and the issue will be reopened if appropriate.

[lucamarchionna]

Hi everyone, I was trying to a simple work based on aruco. However, I don't find the package aruco_ros package for Noetic. In particular, the file I am searching for is aruco_ros/src/single, which is the same file you used. I have tried to search on GitHub but the similar packages seem a little bit different. Can anyone indicate the right repository?

[marcoesposito1988]

Hi @lucamarchionna,

this is the original repository for aruco_ros: https://github.com/pal-robotics/aruco_ros

However I was so frustrated that I wrote my own wrapper for the OpenCV aruco tracking, maybe it can be helpful for you too: https://github.com/marcoesposito1988/easy_aruco