手眼标定之aruco_ros

安装aruco_ros

方法1.编译安装

cd ~/catkin_ws/src
git clone -b melodic-devel https://github.com/pal-robotics/aruco_ros.git
cd ..
catkin_make

方法2.sudo apt安装

sudo apt-get install ros-melodic-aruco*

修改lunch

直接对single.lunch进行修改

<launch>

    <arg name="markerId"        default="582"/>  
    <arg name="markerSize"      default="0.05"/>    <!-- in m -->
    <arg name="eye"             default="left"/>
    <arg name="marker_frame"    default="aruco_marker_frame"/>
    <arg name="ref_frame"       default=""/>  <!-- leave empty and the pose will be published wrt param parent_name -->
    <arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->


    <node pkg="aruco_ros" type="single" name="aruco_single">
        <remap from="/camera_info" to="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/image_raw" />
        <param name="image_is_rectified" value="True"/>
        <param name="marker_size"        value="$(arg markerSize)"/>
        <param name="marker_id"          value="$(arg markerId)"/>
        <param name="reference_frame"    value="$(arg ref_frame)"/>   <!-- frame in which the marker pose will be refered -->
        <param name="camera_frame"       value="/camera_link"/>
        <param name="marker_frame"       value="$(arg marker_frame)" />
        <param name="corner_refinement"  value="$(arg corner_refinement)" />
    </node>

</launch>

运行aruco_ros

不指定参数，使用默认参数

roslaunch aruco_ros single.launch

其他

# 观察识别效果
 rosrun image_view image_view image:=/aruco_single/result
 
# 查看位姿
rostopic echo /aruco_single/pose