ArUco Detector

This package provides a detector for ArUco markers in ROS2.

Subscriptions

Image Raw Topic

Subscripes 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

Subscribes to a sensor_msgs::msg::CameraInfo topic necessary to retrieve the 3d pose of an aruco marker.

Publishers

ArUco Marker Poses

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

Board Pose

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

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.

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 config/aruco_detector_params.yaml:

    ros2 launch aruco_detector aruco_detector.launch.py

Configuration

The ArUco detector can be configured by modifying the parameters in the config/aruco_detector_params.yaml file.