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Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
| Date | Stars |
|---|---|
| 2026-07-24 | 603 |
| 2026-07-25 | 603 |
| 2026-07-28 | 603 |
| 2026-07-30 | 603 |
| 2026-08-06 | 603 |
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aruco_ros
=========
Software package and ROS wrappers of the [Aruco][1] Augmented Reality marker detector library.
### Features
<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/marker_in_hand.jpg" />
* High-framerate tracking of AR markers
* Generate AR markers with given size and optimized for minimal perceptive ambiguity (when there are more markers to track)
* Enhanced precision tracking by using boards of markers
* ROS wrappers
### Applications
* Object pose estimation
* Visual servoing: track object and hand at the same time
<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/reem_gazebo_floating_marker_world.png"/>
### ROS API
#### Messages
* aruco_ros/Marker.msg
Header header
uint32 id
geometry_msgs/PoseWithCovariance pose
float64 confidence
* aruco_ros/MarkerArray.msg
Header header
aruco_ros/Marker[] markers
### Kinetic changes
* Updated the [Aruco][1] library to version 3.0.4
* Changed the coordinate system to match the library's, the convention is shown
in the image below, following rviz conventions, X is red, Y is green and Z is
blue.
<img align="bottom" src="/aruco_ros/etc/new_coordinates.png"/>
### Test it with REEM
* Open a REEM in simulation with a marker floating in front of the robot. This will start the stereo cameras of the robot too. Since this is only a vision test, there is nothing else in this world apart from the robot and a marker floating in front of it. An extra light source had to be added to compensate for the default darkness.
```
roslaunch reem_gazebo reem_gazebo.launch world:=floating_marker
```
* Launch the `image_proc` node to get undistorted images from the cameras of the robot.
```
ROS_NAMESPACE=/stereo/right rosrun image_proc image_proc image_raw:=image
```
* Start the `single` node which will start tracking the specified marker and will publish its pose in the camera frame
```
roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"
```
the frame in which the pose is refered to can be chosen with the 'ref_frame' argument. The next example forces the marker pose to
be published with respect to the robot base_link frame:
```
roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link
```
* Visualize the result
```
rosrun image_view image_view image:=/aruco_single/result
```
<img align="right" src="https://raw.github.com/pal-robotics/aruco_ros/master/aruco_ros/etc/reem_gazebo_floating_marker.png"/>
[1]: http://www.sciencedirect.com/science/article/pii/S0031320314000235 "Automatic generation and detection of highly reliable fiducial markers under occlusion by S. Garrido-Jurado and R. Muñoz-Salinas and F.J. Madrid-Cuevas and M.J. Marín-Jiménez 2014"
Excerpt of 2,948 characters
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:88f4a172bbdd6c67, topic:robotics, topic:ros, readme:robotics