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yocs_ar_marker_tracking package from yujin_ocs repo

yocs_ar_marker_tracking yocs_ar_pair_approach yocs_ar_pair_tracking yocs_cmd_vel_mux yocs_controllers yocs_diff_drive_pose_controller yocs_joyop yocs_keyop yocs_localization_manager yocs_math_toolkit yocs_navi_toolkit yocs_navigator yocs_rapps yocs_safety_controller yocs_velocity_smoother yocs_virtual_sensor yocs_waypoint_provider yocs_waypoints_navi yujin_ocs

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Package Summary

Tags	No category tags.
Version	0.8.2
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/yujinrobot/yujin_ocs.git
VCS Type	git
VCS Version	release/0.8-melodic
Last Updated	2017-01-12
Dev Status	UNMAINTAINED
CI status	Continuous Integration : 0 / 0
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Collecting, tracking and generating statistics for ar markers from ar_track_alvar.

Additional Links

Website

Maintainers

Jihoon Lee

Authors

Daniel Stonier
Jorge Santos

yocs_ar_marker_tracking/README.md

Overview

This package simply collects ar_track_alvar marker output and stores tracking observations and tracking information in an easy to use container. Some features:

Throws away observations that haven’t been tracked for a while.
Observation data includes confidence (frame movement consideration), persistence, stability.

To 3d Sense or not to 3d Sense?

You can hook up the ar_track_alvar node to the kinect if you wish. This should give you better stability of results, but keep in mind that it will fail when you move within the sensor’s minimum range (~50cm).

We’ve found the rgb mode (no 3d sensing) is actually quite good - especially when used with the paired tracking algorithm (see alternative package), so that is what the roslaunchers use.

Usage

Launching

# openni and ar_track_alvar
> roslaunch yocs_ar_marker_tracking machinery.launch
> roslaunch yocs_ar_marker_tracking tracking.launch

Debugging

Fire up rqt_logger_level and set the node’s logger level to debug. You’ll get full ar marker information and generated statistics as well.

Testing

There is a test script that can be used for playing around/testing the ar marker output. It was designed with the paired tracking in mind, but it is useful for checking out the difference between kinect and no kinect.

This is used with a left marker id 3, right marker id 0, marker size 10.0 (can change these in the launchers).

> roslaunch yocs_ar_marker_tracking testies-3dsensor.launch
# OR hooking the 3d sensor up to the ar_track_alvar node...
> roslaunch yocs_ar_marker_tracking testies-3dsensor-depth.launch
# AND
> rosrun yocs_ar_marker_tracking testies.py

Understanding the Script

https://docs.google.com/a/yujinrobot.com/drawings/d/1zEwZM1QMsz9F_NJ6jWP-5vxME7HIXXL_2q45sDt81_w/edit?usp=sharing

The calculated target x, z and heading is relative to the camera rgb pose (z forward, x to the right). In the script I’ve set the target location 40cm in front of the wall and inbetween the markers.

CHANGELOG

Changelog for package yocs_ar_marker_tracking

0.6.3 (2014-12-05)

Merge branch 'indigo-devel' into indigo
Delete the duplicate package
Contributors: DaikiMaekawa, Jihoon Lee

0.6.2 (2014-11-30)

update yaml cpp dependency #63
tracked marker prints conf dist and conf head as well
disable conf_heading. it does not work..
updates
add extra spotted and closest function
Merge branch 'indigo' into indigo-devel
switch maintainer to jihoonl and add yaml-cpp dependency. Fix #56
Add depend on yaml-cpp for yocs_ar_marker_tracking
fix the yaml parser fix
fix the yaml parser redfine bug
Contributors: DongWook Lee, Jihoon Lee, Marcus Liebhardt, Scott K Logan

0.6.1 (2014-07-08)

apply install rules for new packages
use ar_track_alvar_msgs instead of ar_track_alvar
remove eclipse files from bad src location.
yaml 0.5 support
ar_pair_tracking system working
migrates ar marker based algorithms from kobuki x
Contributors: Daniel Stonier, Jihoon Lee

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
	ar_track_alvar_msgs
	roscpp
	geometry_msgs
	sensor_msgs
	yocs_math_toolkit
	catkin

System Dependencies

Name
yaml-cpp

Dependant Packages

Name	Deps
yocs_ar_pair_tracking

Launch files

launch/machinery.launch
- - ar_marker_size [default: 10.0]
  - ar_marker_cam_image_topic [default: camera/rgb/image_raw]
  - ar_marker_max_frequency [default: 5]
launch/tracking.launch
launch/tests/testies-3dsensor.launch
- - camera [default: camera]
  - publish_tf [default: false]
  - rgb_processing [default: true]
  - ir_processing [default: false]
  - depth_processing [default: false]
  - disparity_processing [default: false]
  - disparity_registered_processing [default: false]
  - num_worker_threads [default: 4]
  - depth_registration [default: false]
  - depth_registered_processing [default: false]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - cam_info_topic [default: /camera/rgb/camera_info]
  - output_frame [default: camera_rgb_optical_frame]
  - cam_image_topic [default: camera/rgb/image_raw]
  - max_frequency [default: 5.0]
launch/tests/testies-3dsensor-depth.launch
- - camera [default: camera]
  - publish_tf [default: false]
  - rgb_processing [default: true]
  - ir_processing [default: false]
  - depth_processing [default: false]
  - disparity_processing [default: false]
  - disparity_registered_processing [default: false]
  - num_worker_threads [default: 4]
  - depth_registration [default: true]
  - depth_registered_processing [default: true]
  - marker_size [default: 10.0]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - cam_info_topic [default: /camera/rgb/camera_info]
  - output_frame [default: camera_rgb_optical_frame]
  - cam_image_topic [default: /camera/depth_registered/points]
  - max_frequency [default: 5.0]
launch/includes/openni.xml
- - camera [default: camera]
  - publish_tf [default: false]
  - depth_registration [default: false]
  - rgb_processing [default: true]
  - ir_processing [default: false]
  - depth_processing [default: false]
  - depth_registered_processing [default: false]
  - disparity_processing [default: false]
  - disparity_registered_processing [default: false]
  - num_worker_threads [default: 4]
launch/includes/ar_track_alvar.xml
- - ar_marker_size [default: 10.0]
  - ar_marker_max_frequency [default: 5.0]
  - ar_marker_cam_image_topic [default: camera/rgb/image_raw]
  - max_new_marker_error [default: 0.08]
  - max_track_error [default: 0.2]
  - cam_info_topic [default: camera/rgb/camera_info]
  - output_frame [default: camera_rgb_optical_frame]

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