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detector package from aruco_tracker_ros2_drones repo

custom_messages detector offboard_control_python px4_missions px4_msgs px4_ros_com

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description Precision Landing for Pixhawk drones using ROS2 and Computer Vision
Checkout URI https://github.com/regatte/aruco_tracker_ros2_drones.git
VCS Type git
VCS Version main
Last Updated 2023-11-27
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags computer-vision px4 drones precision-landing aruco-markers autonomous-robots ros2-foxy
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • ashok

Authors

No additional authors.
ROS2_WS_PKG's/detector/README.md

ROS2 Precision Landing - Aruco Detection Package

This Package locates Aruco AR markers in images and publishes the markers ids, pose & states(centre, corners, angle, height and width)

Output

Variables

st = States()

  • st.xc = X co-ordinate centre of aruco marker
  • st.yc = Y co-oridnate centre of aruco marker
  • st.theta = angle w.r.t drone
  • st.w = Widht of aruco marker w.r.t drone
  • st.h = widht of aruco marker w.r.t drone

Value

[[313. 467.]
 [270. 437.]
 [300. 394.]
 [343. 424.]]
X - centre =  306
Y - center =  430
angle =  0
width =  52
heigth =  52

In & Out

Subscriptions

Message Topic
CameraInfo /down_camera/camera_info
Image /down_camera/image_raw

Publishers

| Message | Topic | | :——– | :——- | | States | /states |

There are more publishers which are comented out for now:

/aruco_poses (geometry_msgs.msg.PoseArray)
   Pose of all detected markers (suitable for rviz visualization)

/aruco_markers (ros2_aruco_interfaces.msg.ArucoMarkers)
   Provides an array of all poses along with the corresponding
   marker ids.

Parameters

Parameters: marker_size - size of the markers in meters (default 1.000) aruco_dictionary_id - dictionary that was used to generate markers (default DICT_5X5_250) image_topic - image topic to subscribe to (default /down_camera/image_raw) camera_info_topic - camera info topic to subscribe to (default /down_camera/camera_info)

Authors

Code is crude. Will be refactored soon and added comments

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
custom_messages
ament_copyright
ament_flake8
ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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