[x] The implementation follows the project style conventions
[x] All project unit tests are passing
[x] If relevant, documentation has been provided or updated to discuss the changes made
[x] System integration tests were performed successfully
Changes Made
This PR introduces a method of performing localization using ArUco markers. More specifically, this implements an interface for receiving the video feed streamed by the BlueROV2. The implemented ROS 2 node processes the frames, searching for ArUco markers. If any ArUco markers are present in the frame, the pose of camera relative to the marker is calculated and transformed into the map frame.
Associated Issues
Fixes #1
Testing
Basic testing of the interface has been performed; however, full integration testing and evaluation still needs to be performed.
Checklist
Changes Made
This PR introduces a method of performing localization using ArUco markers. More specifically, this implements an interface for receiving the video feed streamed by the BlueROV2. The implemented ROS 2 node processes the frames, searching for ArUco markers. If any ArUco markers are present in the frame, the pose of camera relative to the marker is calculated and transformed into the
mapframe.Associated Issues
Testing
Basic testing of the interface has been performed; however, full integration testing and evaluation still needs to be performed.