ROS package to get the AR marker pose using the camera
To get the transform of the camera frame with respect to the robot frame
- broadcast of type
StaticTransformBroadcaster()
- Broadcasts
geometry_msgs.msg.TransformStamped()
To calculate the pose of the marker using the camera
- Subscribe to topic
ar_pose_marker
of typeAlvarMarkers
- Service
/getMarkerPose
of typegetMarkerPose
- Publishes
Pose of the marker
of typePose
To calculate the pose of the marker using the camera
- Subscribe to topic
ar_pose_marker
of typeAlvarMarkers
- Service
/getPickPose
of typegetMarkerPose
- Service
/getPlacePose
of typegetMarkerPose
- Publishes
Pose of the marker
of typePose
roslaunch ar_marker_detector marker_detector.launch
For getting the pose of one Marker(Pick location only)roservice call /getMarkerPose
For getting the pose of two Marker(Pick and Place location)rosservice call /getPickPose "ar_marker_id: 0"
rosservice call /getPlacePose "ar_marker_id: 2"
Note: ar_marker_id = [0,8] for our task