01 准备工作
02 修改launch文件
-
aruco_ros
包中有三个launch文件,分别是single、double、publish,原本的用例是通过USB摄像头工作的,对于realsense或者其他相机,就需要修改参数。
首先复制原single.launch
文件并重命名为single_realsense.launch
cd ~/ur_ws/src/aruco_ros/aruco_ros/launch
cp single.launch single_realsense.launch
-
修改参数后的文件为:
<launch>
<arg name="markerId" default="582"/>
<arg name="markerSize" default="0.034"/>
<arg name="eye" default="left"/>
<arg name="marker_frame" default="aruco_marker_frame"/>
<arg name="ref_frame" default=""/>
<arg name="corner_refinement" default="LINES" />
<node pkg="aruco_ros" type="single" name="aruco_single">
<remap from="/camera_info" to="/camera/color/camera_info" />
<remap from="/image" to="/camera/color/image_raw" />
<param name="image_is_rectified" value="True"/>
<param name="marker_size" value="$(arg markerSize)"/>
<param name="marker_id" value="$(arg markerId)"/>
<param name="reference_frame" value="$(arg ref_frame)"/>
<param name="camera_frame" value="/camera_link"/>
<param name="marker_frame" value="$(arg marker_frame)" />
<param name="corner_refinement" value="$(arg corner_refinement)" />
</node>
</launch>
-
即修改了下述部分:
<remap from="/camera_info" to="/camera/color/camera_info" />
<remap from="/image" to="/camera/color/image_raw" />
<param name="camera_frame" value="/camera_link"/>
03 运行
-
启动realsense节点
roslaunch realsense2_camera rs_camera.launch
-
启动aruco_ros节点(下述语句根据需要选其一即可)
$ roslaunch aruco_ros single.launch
$ roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"
$ roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link
-
其他
$ rosrun image_view image_view image:=/aruco_single/result
$ rostopic echo /aruco_single/pose
04 参考
- https://blog.csdn.net/qq_34935373/article/details/105098244
- https://blog.csdn.net/Stu_art/article/details/121023746
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