1、环境:
- Ubuntu22.04
- ros2 humble
- USB camera
2、下载 aruco_ros
mkdir -p ros2_ws/aruco_ws/src && cd ros2_ws/aruco_ws/src # 创建工作空间
# 克隆分支; https://mirror.ghproxy.com为github代理
git clone https://mirror.ghproxy.com/https://github.com/pal-robotics/aruco_ros.git -b humble-devel
3、修改launch配置,
文件位置:ros2_ws/aruco_ws/src/aruco_ros/aruco_ros/launch/single.launch.py
修改前建议cp一下
3.1 修改remappings,为camera发布的topic
aruco_single = Node(
package='aruco_ros',
executable='single',
parameters=[aruco_single_params],
remappings=[('/camera_info', '/camera1/camera_info'),
('/image', '/camera1/image_raw')],
)
3.2 修改 marker_id,为生成的marker值
marker_id_arg = DeclareLaunchArgument(
'marker_id', default_value='582',
description='Marker ID. '
)
3.3 修改 marker_size,为生成的marker尺寸
marker_size_arg = DeclareLaunchArgument(
'marker_size', default_value='0.10',
description='Marker size in m. '
)
4、colcon build
cd ../ # 回到ros2_ws/aruco_ws目录
colcon build
source install/setup.bash
5、生成marker
6、运行程序
终端1:
ros2 launch usb_cam camera.launch.py # 终端1、启动相机
终端2:
ros2 launch aruco_ros single.launch.py # 终端2、启动aruco_ros
终端3:
ros2 topic echo /aruco_single/pose # 终端3、查看topic输出
7、运行效果
topic 为:/aruco_single/result