search

pal-robotics / aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
MIT License
448 stars 306 forks source link

Add rotate_marker_axis parameter #65

Closed 7675t closed 5 years ago

7675t commented 5 years ago

This add a boolean parameter named rotate_marker_axis for #51 . Default is true and it does not effect current behavior. When it is set false, the unnecessary rotation is skipped and the orientation of tf should be identical to the marker detection results.

v-lopez commented 5 years ago

Thanks, very thoughtful to not affect current behavior.

zhudelong commented 5 years ago

@7675t it seems that the marker's orientation is not changed, only the tf changed

7675t commented 5 years ago

@zhudelong Not sure what you mean to say. I believe #65 is on the difference between the marker and tf orientation, and this PR's argument is to make them identical.

zhudelong commented 5 years ago

@7675t sorry for not explaining it clearly. I use the parameter you provided <param name="rotate_marker_axis" value="false"/> Then use the following commands: rosrun tf tf_echo d435_color_optical_frame camera_marker rtopic echo /aruco_tracker/markerer

they give the consistent result about the orientation and position, but when I use RVIZ to show the TF and the marker. I find the marker plane is still aligned with x-0-z plane. 12

2

zhudelong commented 5 years ago

@7675t

by the way, do you know how to get the corner coordinates directly via the topics? Thanks a lot!

7675t commented 5 years ago

@zhudelong Still I'm not quite sure... what did you use to display the marker (red square plane) on rviz? I don't think aruco marker has its own rviz plugin. TF looks correct, so it depends on the marker visualization.

And about the corner point position, there is no topic to publish them. You have to drag out them from aruco's marker detector if you need.

BTW, this is an closed pull request so you should open new issue or ask your question in ROS answers. Thanks.

7675t commented 5 years ago

@zhudelong Sorry my fault, you mean you are using simple_single node and it publish an visualization marker.

https://github.com/pal-robotics/aruco_ros/blob/f5ae172d6a7c4f6cea231cd9d62518ac635a600e/aruco_ros/src/simple_single.cpp#L268-L270

And its y scale is 0.001, that's why it looks wrongly oriented.

7675t commented 5 years ago

Sorry, I will fix it.

zhudelong commented 5 years ago

@7675t Got it. Thanks a lot! I should have noticed that.