helder-pb/aruco_localization

ROS localization node using an ArUco Marker Map.

ArUco Localization ROS Wrapper

This project utilizes the ArUco library and exposes several of the examples in that library through ROS. This project can also be used to localize a camera/robot using an ArUco Marker Map.

Dependencies

Install the ArUco library (Written/tested with version 2.0.19):

$ mkdir build
$ cd build
$ cmake .. # -DUSE_OWN_EIGEN=no
$ make
$ sudo make install

Note: This ROS package (in the CMakeLists.txt) assumes that the Findaruco.cmake file was installed to /usr/local/lib/cmake/. Look at the output of sudo make install to verify this location.

Usage

The aruco_localization node publishes two topics: estimate and measurements. Given an ArUco marker dictionary, any markers in that dictionary family will be identified and the measurement to that specific marker will be reported in the measurements topic. The estimate topic provides the overall pose estimate of a marker map. The marker map that is being tracked is defined in the markermap_config file, which is a YAML file that lists all of the markers and their positions within a marker map. An example YAML file can be found here.

Resources

• OpenCV contrib
• ArUco library