ROS Index
|
|
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
Additional Links
Maintainers
- Jihoon Lee
Authors
- Daniel Stonier
- Jihoon Lee
- Jorge Santos Simon
Overview
Parameterised by two AR Markers this package tracks the markers and computes a relative pose from the robot to the midpoint (of the baseline) between the two markers.
Why two markers?
You can do this with a single ar marker - it will supply you with all the information you need - a full six degrees of position and orientation information. However the orientation data can often be quite dodgy. Detection rates and the position data on the other hand is quite reliable, so here we use position data from the two ar markers to provide more robustness than we could get with ar marker data from one.
Usage
Markers
We use left marker id 3 and right marker id 0 by default, but these are configurable as parameters for the node.
Publishers
-
~/spotted_markers: string identifying which markers are spotted - ‘none’, ‘left’, ‘right’, ‘both’. -
~/initial_pose: pose with covariance stamped for use to set an initial pose for amcl (assuming/mapis at the base of the midpoint of the two ar markers. -
~relative_target_pose: 2d pose between sensor and target location, use for an approach controller.
Todo
Remove the transform logic inside the node and just publish the relative target pose. This removes any need for this node to have external information (in this case a camera_rgb_optical_frame to base_footprint transform).
Changelog for package yocs_ar_pair_tracking
0.6.3 (2014-12-05)
0.6.2 (2014-11-30)
- update navigation configurations
- switch maintainer to jihoonl and add yaml-cpp dependency. Fix #56
- reduce covariance size to fix #53
- reduce covariance size to fix #53
- add issue tracker and repository info
- Contributors: Jihoon Lee, dwlee
0.6.1 (2014-07-08)
- remove eclipse files from bad src location.
- apply install rules for new packages
- use ar_track_alvar_msgs instead of ar_track_alvar
- covariance matrix when it creates pose message closes #34
- ar_pair_tracking system working
- migrates ar marker based algorithms from kobuki x
- Contributors: Daniel Stonier, Jihoon Lee, jihoonl
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| std_msgs | |
| geometry_msgs | |
| sensor_msgs | |
| yocs_math_toolkit | |
| ar_track_alvar_msgs | |
| yocs_ar_marker_tracking | |
| yocs_msgs | |
| catkin |
System Dependencies
Dependant Packages
Launch files
- launch/server.launch
- launch/client.launch
- launch/demo-tracking.launch
- Demo launcher which launches everything in one bundle.
-
- launch/tracking.launch
-
- ar_pair_left_id [default: 3]
- ar_pair_right_id [default: 0]
- ar_pair_baseline [default: 0.26]
- ar_pair_baseline_half [default: 0.13]
- ar_pair_target_pose_offset [default: 0.33]
- ar_pair_publish_transforms [default: false]