aruco_detect should publish empty fiducial_vertices

UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.

BSD 3-Clause "New" or "Revised" License

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aruco_detect should publish empty fiducial_vertices #47

Closed rohbotics closed 7 years ago

rohbotics commented 7 years ago

When there are no markers, we should publish an empty fiducial_vertices

jim-v commented 7 years ago

Yes, I agree. What do you think about having a single Fiducial message containing both vertices and transforms? It would fix an inconsistency that there is one message for each set of vertices, but all the transforms for a frame are published together.

rohbotics commented 7 years ago

I think we could refactor the messages to be more consistent. But I think that we should keep them separate in order to allow making the detection and pose estimation into separate nodelets in the future.