【D415】调试记录

一、简介

1. 环境版本：

• 虚拟机系统：Ubuntu 18.04.6 LTS
• 虚拟机版本：VMware® Workstation 17 Pro
• ROS版本：Melodic

二、调试过程

1、安装对应ros版本的aruco包

sudo apt-get install ros-melodic-aruco*

2、配置aruco launch

roscd aruco_ros
cd launch
gedit single.launch

修改markerId markerSize为 aruco在线生成的aruco的id和size，以及/camera_info 和/image指向realsense发布的话题，camera_frame改为/camera_link。

<launch>

    <arg name="markerId"        default="116"/>
    <arg name="markerSize"      default="0.055"/>    <!-- in m -->
    <arg name="eye"             default="right"/>
    <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>

3、获取aruco相对于相机的位姿

1. 运行realsense的点云图rviz

 roslaunch realsense2_camera demo_pointcloud.launch 

2. 启动aruco节点

roslaunch aruco_ros single.launch 

在rviz中订阅aruco的话题

3. 订阅位姿信息

rostopic echo /aruco_single/pose/

当相机识别到aruco二维码后，会检测出aruco的id和相机相对的位姿