aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library.

High-framerate tracking of AR markers
Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)
Enhanced precision tracking by using boards of markers
ROS wrappers

aruco_ros/Marker.msg

Header header
uint32 id
geometry_msgs/PoseWithCovariance pose
float64 confidence

aruco_ros/MarkerArray.msg

Header header
aruco_ros/Marker[] markers

Updated the Aruco library to version 3.0.4
Changed the coordinate system to match the library's, the convention is shown in the image below, following rviz conventions, X is red, Y is green and Z is blue.

Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
```
roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker
```
Launch the image_proc node to get undistorted images from the cameras of the robot.
```
ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image
```
Start the single node which will start tracking the specified marker and will publish its pose in the camera frame
```
roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"
```
the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to be published with respect to the robot base_link frame:
```
roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link
```

Visualize the result

rosrun image_view image_view image:=/aruco_single/result

pal-robotics / aruco_ros