Robot localization

ROS2 robot localization package. The Aruco marker, which is placed on the top side of the robot, is detected by the top-view camera.

This package based on aruco_robot_localization CMake package.

Nodes description

CameraLocalizationNode

Published topics:

• /camera_loc/pose – robot position in global coordinate frame
• /camera_loc/path – robot path

Also, node broadcast transform from map to robot frame according to robot position.

Node parameters:

• sample_period – sample period of localization (ms). Default: 40.
• dict_id – marker dictionary ID (see table below). Default: 0.
• marker_id – marker ID. Default: 0.
• cam_id – camera ID. ID is assigned incrementally to each camera starting from 0. Default: 0.
• camera_resolution.width and camera_resolution.heigh – width and height of camera frame in pixels. Default: 1920x1080.
• cam_focus – camera focus from 0 to 255 with step 5. Zero is autofocus. Default: 0.
• cam_exposure – camera exposure. Default: 0.
• parent_frame_id – parent frame ID. Default: "map".
• child_frame_id – robot (or Aruco marker) frame ID. Default: "robot".
• pixel_resolution.x and pixel_resolution.y – pixel resolution along X (columns) and Y (rows) axes. Default: 1.0 and 1.0.

dict_id	marker dictionary
0	DICT_4X4_50
1	DICT_4X4_100
2	DICT_4X4_250
3	DICT_4X4_1000
4	DICT_5X5_50
5	DICT_5X5_100
6	DICT_5X5_250
7	DICT_5X5_1000
8	DICT_6X6_50
9	DICT_6X6_100
10	DICT_6X6_250
11	DICT_6X6_1000
12	DICT_7X7_50
13	DICT_7X7_100
14	DICT_7X7_250
15	DICT_7X7_1000
16	DICT_ARUCO_ORIGINAL
17	DICT_APRILTAG_16h5
18	DICT_APRILTAG_25h9
19	DICT_APRILTAG_36h10
20	DICT_APRILTAG_36h11

InitialTransformBroadcasterNode

Node gets first message from /pose topic and broadcast static transform that shows a start robot position in global coordinate frame. This transform is used for show local navigation (e.g. wheel odometry, IMU).

Subscribed topics:

• /pose – robot position in global coordinate frame

Node parameters:

• parent_frame_id – parent frame ID. Default: "map".
• child_frame_id – initial position frame ID. Default: "init_pose".

Requirements

• ROS2 Foxy or later
• OpenCV v4.2.0 or later