Using AR Tag Tracking

Dependencies

• ROS Melodic
• RoverCoreOS ar_tag_tracking branch
  • Run git checkout ar_tag_tracking from the RoverCoreOS directory.
• RealSense2 Wrapper and SDK

Getting it Running

• Install the alvar package for ROS.
• The launch file to run with the RealSense is in RoverCoreOS
• When launching the realsense node, add enable_tf_dynamic:=true as the last parameter.
• Then, run roslaunch launch/ar_tag_tracking.launch
  • Make sure you're in the path catkin_ws/src/RoverCoreOS/.
• That should run just tasty.
• You can use rostopic echo /ar_pose_marker to see the number that'll make it work.

RViz Instructions

• rosrun rviz rviz
• Make sure under Global Options set Fixed Frame to camera_link.
• Add a Marker Display and make sure the marker topic is visualization_marker.
• Add a Camera Display and set the image topic to /camera/color/image_raw
• Add a TF display and disable all frames, save for the ar_marker_# frames that will appear as you show it tags.