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

Aruco does not detect any marker. #77

Closed Juliocasta5 closed 4 years ago

Juliocasta5 commented 4 years ago

Hi, i'm testing the aruco_ros package in Tiago robot and i'm trying to run the aruco_ros simulation following the wiki ros tutorials of Tiago. So, first, I launch the Tiago's simulation:

roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel world:=tutorial_office gzpose:="-x -3.5 -y -0.85 -z 0 -R 0 -P 0 -Y -3.0"

Screenshot from 2020-03-26 17-05-21 Then, you can see the robot in front of the aruco board, the next step is to launch the detector.

rosrun aruco_ros single /camera_info:=/xtion/rgb/camera_info /image:=/xtion/rgb/image_rect_color _marker_id:=250 _marker_size:=0.6 _marker_frame:=/aruco_frame _camera_frame:=/xtion_optical_frame _image_is_rectified:=true _reference_frame:=/base_footprint

After launching that command, it appears this in the terminal. [ INFO] [1585238075.740888622, 50.626000000]: Corner refinement method: 3 [ INFO] [1585238075.740995594, 50.626000000]: Threshold method: 1 [ INFO] [1585238075.741038275, 50.626000000]: Threshold method: th1: 7 th2: 7 [ INFO] [1585238075.741066778, 50.626000000]: Marker size min: 0.04 max: 0.5 [ INFO] [1585238075.741087506, 50.626000000]: Desired speed: 0 [ INFO] [1585238076.041515145, 50.680000000]: Aruco node started with marker size of 0.600000 m and marker id to track: 250 [ INFO] [1585238076.041839764, 50.680000000]: Aruco node will publish pose to TF with /base_footprint as parent and /aruco_frame as child. [ WARN] [1585238076.041961474, 50.680000000]: normalizeImageIllumination is unimplemented!

I don't understand what's happening, if someone can help me please.

Horizonzhou commented 4 years ago

I have the same issue, could you please share your experience about this issue?

v-lopez commented 4 years ago

I believe you have changed the parameters for the aruco_ros single node.

The correct parameters are: rosrun aruco_ros single /camera_info:=/xtion/rgb/camera_info /image:=/xtion/rgb/image_rect_color _marker_id:=584 _marker_size:=0.10 _marker_frame:=/aruco_frame _camera_frame:=/xtion_optical_frame _image_is_rectified:=true _reference_frame:=/base_footprint

You'll notice a different marker_id and marker_size.

With these parameters, you'll see that a tf frame appears on the location of the detected marker, as well as an rviz marker in the /aruco_simple/marker topic.