Sensing Aruco ROS Packages

A set of ROS packages for detecting ArUco markers.

Prerequisites

1. Uninstall opencv-python if it is installed. Having opencv-python and opencv-contrib-python will conflict with each other.

# Use the following for Python 3.
python3 -m pip uninstall opencv-python

2. Install ROS geometry msgs, std msgs, and cv-bridge packages.

# Use the following for ROS Noetic.
sudo apt-get install ros-noetic-geometry-msgs ros-noetic-std-msgs ros-noetic-cv-bridge

3. Install the following Python packages.

# Use the following for Python 3.
python3 -m pip install opencv-contrib-python>=4.6.0.66 scipy>=1.9.0 --user

4. Install sensing-aruco Python package using the linked instructions (link). You should only follow the installation instructions.

Installation

Perform the following steps to install the ROS packages.

1. Clone the sensing-aruco repository.

cd <catkin workspace>/src
git clone https://github.com/troiwill/sensing-aruco-ros
cd sensing-aruco-ros

2. Make the scripts executable.

chmod +x sense_aruco_ros/nodes/aruco_detector_node

3. Build the workspaces.

cd <catkin workspace>
catkin build

4. Source the catkin workspace.

source devel/setup.bash

Run Gazebo Demo

Run the Gazebo demo.

# In one terminal tab, run:
roslaunch sense_aruco_simulations run_marker_sim_demo.launch

# In a second terminal tab, run the command to ensure the detector node works:
rostopic echo /aruco_marker_poses