Contains the servo_alvar and image_sharper ROS packages
Uses ROS Fuerte
servo_alvar: Code to servo an Alvar marker using the PR2 navigation stack, move_base package, and ar_track_alvar
Usage:
rosrun servo_alvar servo_alvar.py <number of Alvar marker found with ar_track_alvar>
Can be edited to servo to any AR tag that has a TF frame (assumes z-axis is pointing out of the face of the tag)
image_sharper: Code to change the brightness and contrast of an image collected from any camera that publishes a sensor_msgs/Image ROS message and pass the edited image to the ar_track_alvar node which is started in the launch file. Camera can be specified in the launch file.
Usage:
roslaunch image_sharper image_sharper.launch