Simultaneous localization and mapping using fiducial markers.
Clone or download
rohbotics Merge pull request #141 from RoverRobotics/enable_aruco_detections_topic
Added topic that enables/disables Aruco detections
Latest commit 1a04aa6 Dec 11, 2018
Type Name Latest commit message Commit time
Failed to load latest commit information.
aruco_detect Final cleaning Dec 11, 2018
fiducial_msgs 0.10.0 Oct 14, 2018
fiducial_slam Improve accuracy of map (#135) Oct 21, 2018
fiducials 0.10.0 Oct 14, 2018
.gitignore Fiducial slam refactor (#44) Jan 12, 2017
.travis.yml Try to fix travis Dec 26, 2017 Document how to capture a bag file Dec 26, 2017

Simultaneous Localization and Mapping Using Fiducial Markers

Travis: Build Status

Jenkins: Build Status


This package implements a system that uses ceiling mounted fiducial markers (think QR Codes) to allow a robot to identify its location and orientation. It does this by constructing a map of the ceiling fiducials. The position of one fiducial needs to be specified, then a map of the fiducials is built up from observing pairs of markers in the same image. Once the map has been constructed, the robot can identify its location by locating itself relative to one or more ceiling fiducials.

Documentation is at

Recording A Bag File

Sometimes for trobleshooting purposes it is useful to record a bag file to capture the exact data on the topics going into and out of fiducials.

To do this, while the system is running, run rosbag record -a. You can upload this bag file to a file sharing service like Google Drive and link to it in your issue, this will help us diagnose the problem.