Aruco markers not detected in Gazebo

[Mechaick]

Hello,

I'm currently running the following gazebo simulation : https://github.com/EuropeanRoverChallenge/ERC-Remote-Navigation-Sim#launching

My issue is that aruco_single and aruco_marker_publisher only sees the markers for a frame then stops seeing them. Do you have any idea why ?

I'm using ROS Noetic.

This is my launch file

`

<arg name="markerSize"      default="0.05"/>    <!-- in m -->
<arg name="ref_frame"       default="base"/>  <!-- leave empty and the pose will be published wrt param parent_name -->
<arg name="use_camera_info" default="true"/>

<node pkg="aruco_ros" type="marker_publisher" name="aruco_marker_publisher">
    <remap from="/camera_info" to="/zed2/right/camera_info" />
    <remap from="/image" to="/zed2/right/image_rect_color" />
    <param name="image_is_rectified" value="True"/>
    <param name="marker_size"        value="$(arg markerSize)"/>
    <param name="reference_frame"    value="$(arg ref_frame)"/>   <!-- frame in which the marker pose will be refered -->
    <param name="camera_frame"       value="zed2_right_camera_optical_frame"/>
</node>

`

These are my topics

/aruco_marker_publisher/debug /aruco_marker_publisher/debug/compressed /aruco_marker_publisher/debug/compressed/parameter_descriptions /aruco_marker_publisher/debug/compressed/parameter_updates /aruco_marker_publisher/debug/compressedDepth /aruco_marker_publisher/debug/compressedDepth/parameter_descriptions /aruco_marker_publisher/debug/compressedDepth/parameter_updates /aruco_marker_publisher/debug/theora /aruco_marker_publisher/debug/theora/parameter_descriptions /aruco_marker_publisher/debug/theora/parameter_updates /aruco_marker_publisher/markers /aruco_marker_publisher/markers_list /aruco_marker_publisher/result /aruco_marker_publisher/result/compressed /aruco_marker_publisher/result/compressed/parameter_descriptions /aruco_marker_publisher/result/compressed/parameter_updates /aruco_marker_publisher/result/compressedDepth /aruco_marker_publisher/result/compressedDepth/parameter_descriptions /aruco_marker_publisher/result/compressedDepth/parameter_updates /aruco_marker_publisher/result/theora /aruco_marker_publisher/result/theora/parameter_descriptions /aruco_marker_publisher/result/theora/parameter_updates /camera/camera_info /camera/image_raw /camera/image_raw/compressed /camera/image_raw/compressed/parameter_descriptions /camera/image_raw/compressed/parameter_updates /camera/image_raw/compressedDepth /camera/image_raw/compressedDepth/parameter_descriptions /camera/image_raw/compressedDepth/parameter_updates /camera/image_raw/theora /camera/image_raw/theora/parameter_descriptions /camera/image_raw/theora/parameter_updates /camera/parameter_descriptions /camera/parameter_updates /clock /cmd_vel /gazebo/controllers/diff_drive/cmd_vel /gazebo/controllers/diff_drive/odom /gazebo/controllers/diff_drive/parameter_descriptions /gazebo/controllers/diff_drive/parameter_updates /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/performance_metrics /gazebo/set_link_state /gazebo/set_model_state /gazebo/zed2/odom /gazebo/zed2/odom_info /gazebo/zed2/odom_info_lite /gazebo/zed2/odom_last_frame /gazebo/zed2/odom_local_map /gazebo/zed2/odom_local_scan_map /gazebo/zed2/odom_rgbd_image /gazebo_ros_control/pid_gains/wheel_FL_joint/parameter_descriptions /gazebo_ros_control/pid_gains/wheel_FL_joint/parameter_updates /gazebo_ros_control/pid_gains/wheel_FR_joint/parameter_descriptions /gazebo_ros_control/pid_gains/wheel_FR_joint/parameter_updates /gazebo_ros_control/pid_gains/wheel_RL_joint/parameter_descriptions /gazebo_ros_control/pid_gains/wheel_RL_joint/parameter_updates /gazebo_ros_control/pid_gains/wheel_RR_joint/parameter_descriptions /gazebo_ros_control/pid_gains/wheel_RR_joint/parameter_updates /ground_truth /joint_states /probe_deployment_unit/drop /probe_deployment_unit/probes_dropped /rosout /rosout_agg /tf /tf_static /wheel_odom /wheel_pose /zed2/depth/camera_info /zed2/depth/depth_registered /zed2/imu/data /zed2/left/camera_info /zed2/left/image_rect_color /zed2/left/image_rect_color/compressed /zed2/left/image_rect_color/compressed/parameter_descriptions /zed2/left/image_rect_color/compressed/parameter_updates /zed2/left/image_rect_color/compressedDepth /zed2/left/image_rect_color/compressedDepth/parameter_descriptions /zed2/left/image_rect_color/compressedDepth/parameter_updates /zed2/left/image_rect_color/theora /zed2/left/image_rect_color/theora/parameter_descriptions /zed2/left/image_rect_color/theora/parameter_updates /zed2/left_cam_imu_transform /zed2/left_raw/camera_info /zed2/left_raw/image_raw_color /zed2/left_raw/image_raw_color/compressed /zed2/left_raw/image_raw_color/compressed/parameter_descriptions /zed2/left_raw/image_raw_color/compressed/parameter_updates /zed2/left_raw/image_raw_color/compressedDepth /zed2/left_raw/image_raw_color/compressedDepth/parameter_descriptions /zed2/left_raw/image_raw_color/compressedDepth/parameter_updates /zed2/left_raw/image_raw_color/theora /zed2/left_raw/image_raw_color/theora/parameter_descriptions /zed2/left_raw/image_raw_color/theora/parameter_updates /zed2/left_raw/parameter_descriptions /zed2/left_raw/parameter_updates /zed2/odom /zed2/parameter_descriptions /zed2/parameter_updates /zed2/point_cloud/cloud_registered /zed2/reset_odometry /zed2/right/camera_info /zed2/right/image_rect_color /zed2/right/image_rect_color/compressed /zed2/right/image_rect_color/compressed/parameter_descriptions /zed2/right/image_rect_color/compressed/parameter_updates /zed2/right/image_rect_color/compressedDepth /zed2/right/image_rect_color/compressedDepth/parameter_descriptions /zed2/right/image_rect_color/compressedDepth/parameter_updates /zed2/right/image_rect_color/theora /zed2/right/image_rect_color/theora/parameter_descriptions /zed2/right/image_rect_color/theora/parameter_updates /zed2/right/parameter_descriptions /zed2/right/parameter_updates /zed2/right_raw/camera_info /zed2/right_raw/image_raw_color /zed2/right_raw/image_raw_color/compressed /zed2/right_raw/image_raw_color/compressed/parameter_descriptions /zed2/right_raw/image_raw_color/compressed/parameter_updates /zed2/right_raw/image_raw_color/compressedDepth /zed2/right_raw/image_raw_color/compressedDepth/parameter_descriptions /zed2/right_raw/image_raw_color/compressedDepth/parameter_updates /zed2/right_raw/image_raw_color/theora /zed2/right_raw/image_raw_color/theora/parameter_descriptions /zed2/right_raw/image_raw_color/theora/parameter_updates /zed2/right_raw/parameter_descriptions /zed2/right_raw/parameter_updates

and this is the command I use : roslaunch aruco_ros marker_publisher.launch markerSize:=0.15 ref_frame:=/base_link

[saikishor]

Hello @Mechaick,

This could probably mean that the aruco_ros is not properly detecting the marker. Once it is able to detect the marker, then the pose estimation is done.

Thank you,

Best Regards, PAL Robotics Team.

[saikishor]

Hello @Mechaick,

Any update on this issue?.

Thank you,

Best Regards, PAL Robotics Team.

[saikishor]

Hello @Mechaick,

Closing the issue due to inactivity.

Thank you,

Best Regards, PAL Robotics Team.