Run the program

The program is located in catkin_ws/src/test_get_image/src/get_image_from_ros.py

catkin_ws/src/test_get_image/src/get_image_from_ros.py

Arguments
-a, --active   Enables motor output (use to demo on strawberry harvester)
-s, --size     The size of the marker (the internal square size)
-t, --target   The target distance to drive at away from the tags (only relevant if motors are engaged)
-T, --tag      The tag to turn at (only relevant if motors are engaged)
... There is more, run -h to see the full list

Python virtual environment

A python virtual environment is the easiest way to ensure all the correct packages are installed. The requirements.txt file contains all the needed dependencies.

# Create virtual environment
python3 -m venv venv
source venv/bin/activate
# Install packages
pip3 install -r requirements.txt

# Run program

# Once you are done
deactivate

Stats page

Inside this file, to show the stats page (showing the distances of the detected image) make sure that like 308 is uncommented, inside the calc_pose_opencv function

show_stats(term, x, z, area)

Overlay image

The current image with the overlayed tag should appear automatically. This is opened by the overlay_tags function in camera/detector.py, which calls the cv2.imshow(...) to open the overlayed image

The basler camera

For the program to find the camera, the host it is running on (like a Jetson nano) needs to be on the same subnet as the camera. I.e., they need to be plugged into the same switch and both be allocated an IP in the same subnet, like 192.168.1.10 and 192.168.1.11.