ROS2 ArUco

ROS2 Wrapper for OpenCV Aruco Marker Tracking

Based on https://github.com/JMU-ROBOTICS-VIVA/ros2_aruco

This node locates Aruco AR markers in images and publishes their ids and poses.

Interface:

• aruco_node (ROS2 Foxy python)

  Node for marker detection

• aruco_generate_marker.py (python)

  Python script for generating ArUco marker

PTU Node

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Topics

Subscriptions:

• /camera/image_raw (sensor_msgs.msg.Image)
• /camera/camera_info (sensor_msgs.msg.CameraInfo)

Published Topics:

• /aruco_poses (geometry_msgs.msg.PoseArray) - Poses of all detected markers (suitable for rviz visualization)
• /aruco_markers (ros2_aruco_interfaces.msg.ArucoMarkers) - Provides an array of all poses along with the corresponding marker ids

Parameters

• marker_size - size of the markers in meters (default .0625)
• aruco_dictionary_id - dictionary that was used to generate markers (default DICT_5X5_250)
• image_topic - image topic to subscribe to (default /camera/image_raw)
• camera_info_topic - Camera info topic to subscribe to (default /camera/camera_info)
• camera_frame - Camera optical frame to use (default to the frame id provided by the camera info message.)

How to run:

Dependencies

• opencv-contrib-python

• cv_bridge

Installation

pip install opencv-contrib-python # or pip3

sudo apt-get install ros-$ROS_DISTRO-cv-bridge 

Build packages with ros

colcon build --symlink-install

Start the nodes

ros2 launch ros2_aruco aruco.launch.py

TF2

ros2 run tf2_tools view_frames.py
ros2 run tf2_ros tf2_echo [reference_frame] [target_frame]

Generating Marker Images

ros2 run ros2_aruco aruco_generate_marker

Pass the -h flag for usage information:

usage: aruco_generate_marker [-h] [--id ID] [--size SIZE] [--dictionary]

Generate a .png image of a specified maker.

optional arguments:
  -h, --help     show this help message and exit
  --id ID        Marker id to generate (default: 1)
  --size SIZE    Side length in pixels (default: 200)
  --dictionary   Dictionary to use. Valid options include: DICT_4X4_100,
                 DICT_4X4_1000, DICT_4X4_250, DICT_4X4_50, DICT_5X5_100,
                 DICT_5X5_1000, DICT_5X5_250, DICT_5X5_50, DICT_6X6_100,
                 DICT_6X6_1000, DICT_6X6_250, DICT_6X6_50, DICT_7X7_100,
                 DICT_7X7_1000, DICT_7X7_250, DICT_7X7_50, DICT_ARUCO_ORIGINAL
                 (default: DICT_5X5_250)