ROS client for Roboception’s tag detection modules

This package is not developed anymore. New clients are available in the rc_reason_clients_ros repository.

This node provides ROS service calls and parameters for TagDetect node. For detail description of the TagDetect check rc_visard manual: https://doc.rc-visard.com/latest/en/tagdetect.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-tagdetect-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

• device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
  • serial number, e.g. 02912345. IMPORTANT: preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
  • user defined name (factory default is the name of the rc_visard’s model), must be unique among all reachable sensors.
• host: If device is not used: The IP address or hostname of the rc_visard

Dynamic reconfigure parameters

• use_cached_images: Use most recently received image pair instead of waiting for a new pair.
• forget_after_n_detections: Number of detection runs after which to forget about a previous tag during tag re-identification.
• max_corner_distance: Maximum distance of corresponding tag corners in meters during tag re-identification.
• quality: Quality of tag detection (H, M or L).
• detect_inverted_tags: Detect tags with black and white exchanged.
• publish_visualization: Whether or not the tf and markers should be published.

Services

The following services are offered by the node:

• detect: Triggers single detection.
• start_continuous_detection: Starts continuous detection.
• stop_continuous_detection: Stops continuous detection.

Launching

Using command line parameters:

rosrun rc_tagdetect_client rc_april_node _device:=:<serial_number>
rosrun rc_tagdetect_client rc_qr_node _device:=:<serial_number>

Changelog for package rc_tagdetect_client

3.3.3 (2022-03-03)

3.3.2 (2022-02-18)

3.3.1 (2022-02-18)

3.3.0 (2022-02-08)

3.2.4 (2021-11-15)

3.2.3 (2021-08-03)

3.2.2 (2021-08-02)

3.2.1 (2021-02-11)

3.2.0 (2021-01-28)

• update cmake files for better version handling

3.1.0 (2020-11-17)

3.0.5 (2020-10-20)

3.0.4 (2020-09-23)

3.0.3 (2020-09-22)

3.0.2 (2020-07-28)

3.0.1 (2020-05-14)

3.0.0 (2020-05-13)

• refactoring and cleanup
• return success on StartContinuousDetection for consistency with stop
• set parameters on parameter server so that dynamic reconfigure picks them up
• enum for dynamic reconfigure quality params
• add optional pose_frame in request
• update cpr for support of curl >= 7.62.0 and set EXCLUDE_FROM_ALL to not install it
• update nlohmann json to 3.7.3
• Contributors: Felix Ruess

2.7.0 (2019-07-19)

• add [device]{.title-ref} parameter that can take serial number or GEV name (has precedence over old [host]{.title-ref} parameter)

2.6.4 (2019-06-19)

2.6.3 (2019-06-12)

2.6.2 (2019-06-11)

2.6.1 (2019-05-20)

2.6.0 (2019-05-20)

• first release