This package extends aruco_mapping with many features. You can use it to first create a map of aruco markers and then to navigate a simple camera (without depth information) in this map.
Author: Markus Lamprecht
Maintainer: Markus Lamprecht, [email protected]
Video:
This software is built on the Robotic Operating System (ROS), which needs to be installed first. Additionally, this package depends on following software:
Install the above packages first!
In order to install this package, clone the latest version from this repository into your catkin workspace and compile the package using catkin_tools :
mkdir -p catkin_ws/src
cd catkin_ws/src/
git clone [email protected]:CesMak/tf_mapping.git
cd ..
catkin init
catkin build
source devel/setup.bash
-
First step is to create a map:
roslaunch tf_mapping start_tf_mapping.launchStore the tf's and the images using:
rosrun tf_mapping tf_create_map.py- Adjust full_hd resolution (or the highes resolution for creating the map) in tf_mapping/launch/start_tf_mapping.launch
- Point the camera such that only the aruco marker with id=0 is detected (This will be your initial coordinate system).
- The transformations of all other detected aruco markers will be relative to this initial system.
- Point the camera to another aruco marker e.g. with id=1
- When moving the camera consider that always 2 markers are visible on every image.
-
Navigate your camera now in this map
- Adjust to use now lower resolution e.g. 640x480 (to be realtime capable) in tf_mapping/launch/start_tf_navigate.launch
roslaunch tf_mapping start_tf_navigate.launch
roslaunch tf_mapping start_tf_navigate.launch
If you want to use this package please contact: me.