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pal-robotics / aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
MIT License
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Kinetic to Melodic orientation change #88

Closed gokhansolak closed 2 years ago

gokhansolak commented 3 years ago

I upgraded from ROS Kinetic to Melodic, and noticed that my frames were broken. After some inspection it appeared that the marker frames were rotated by quaternion [w: -0.707, x:0, y:0, z:0.707] or euler [z:-90 deg]. I am sharing this as it may be useful to those upgrading from Kinetic to Melodic.

The frame shown in the readme looks outdated, currently the z-axis is orthogonal to the marker, pointing outwards.(There are two frames one is wrong, the second seems correct) It maybe helpful to keep a reference for the marker-transform relation somewhere in the docs. Thank you!

saikishor commented 2 years ago

Hello @gokhansolak,

Thank you reporting this. We have fixed some similar bug these days. Please give it a shot now. The issue smimilar to this is: https://github.com/pal-robotics/aruco_ros/issues/98. If you are still facing the issue, please feel free to reopen the ticket and provide us some information to reproduce it.

Thank you,

Best Regards, PAL Robotics Team.