ROS node that publishes the poses of detected ArUco markers.
The node can handle multiple markers at once. It is inactive if no node is listening to its output topic.
Required parameters:
image_color
: topic where the uncalibrated RGB camera image is broadcast.camera_info
: topic where the camera broadcasts its parameters. At leastK
andD
should be set. The software expects that thedistortion_model
isplumb_bob
.marker_size
: size of a single side of the ArUco marker, in meters.output
: topic where thevisualization_msgs/MarkerArray
will be posted.
Some important values of each published visualization_msgs/Marker
are:
header
: copy of the image in which the marker is detectedns
:ros_aruco::ArucoDetector::MARKER_NS = "aruco"
type
:ros_aruco::ArucoDetector::MARKER_VISUALIZATION_TYPE = visualization_msgs::Marker::CUBE
color
:ros_aruco::ArucoDetector::MARKER_COLOR
(50% gray withalpha = 50
)id
: the detected marker's id