ros_aruco

Save ground truth with aruco tag (kinect, meta ports) and publish to ROS topic.

Thanks to Anina Mu and all ORS18-19 team members (Joshua, Nicholas and Jianni) to develop this wrapper.

Looking for a non-ROS version?

please check aruco_tag_saver

Setup

roscore
roslaunch freenect_launch freenect.launch

Get kinect frames

rosrun ros_aruco aruco_kinect.py

Get transform matrix

rosrun ros_aruco aruco_transform.py

View the topic receiving the transform matrix

rostopic echo aruco_transform