ArUco Detector

This package provides a detector for ArUco markers in ROS2.

Subscriptions

Image Raw Topic

Subscipes to a sensor_msgs::msg::Image topic specified in the params file. This is the image on which aruco detection is performed.

Camera Info Topic

The node sets default camera calibration parameters, but listens for a sensor_msgs::msg::CameraInfo topic to override the calibration parameters.

Publishers

ArUco Marker Poses

Detects arUco markers on the image. Calculates the position of the markers and publishes over the /aruco_marker_poses topic as a geometry_msgs::msg::PoseArray message.

Board Pose

If the detect_board param is set then the board posistion is published as a geometry_msgs::msg::PoseStamped message over the /aruco_board_pose topic. The position published is the centre of the rectangular board created in src/aruco_detector.cpp in the createRectangularBoard function.

The board position is used for autonomous docking in the TAC Challenge. This task requires and accurate position and therefore the board position is etimated through a kalman filter, to ensure more stable outputs.

Marker Image

If the visualize param is set the detected arUco markers, and the board centre, if enabled, are visualized on the input image used for detection. The image is published over the /aruco_marker_image as a sensor_msgs::msg::Image message.

Usage

To use the ArUco detector, follow one of these steps:

1. Run the ArUco detector node to use default parameters specified in src/aruco_detector_ros.cpp:

   ros2 run aruco_detector aruco_detector_node

2. Launch the ArUco detector node to use parameters specified in params/aruco_parameters.yaml:

    ros2 launch aruco_detector aruco_detector_launch.py

Configuration

The ArUco detector can be configured by modifying the parameters in the params/aruco_parameters.yaml file.