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aruco_detect should publish empty fiducial_vertices #47

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rohbotics opened this issue Jan 22, 2017 · 2 comments
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aruco_detect should publish empty fiducial_vertices #47

rohbotics opened this issue Jan 22, 2017 · 2 comments
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Version 0.6.0

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@rohbotics
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When there are no markers, we should publish an empty fiducial_vertices
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jim-v commented Jan 22, 2017

Yes, I agree. What do you think about having a single Fiducial message containing both vertices and transforms? It would fix an inconsistency that there is one message for each set of vertices, but all the transforms for a frame are published together.

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I think we could refactor the messages to be more consistent. But I think that we should keep them separate in order to allow making the detection and pose estimation into separate nodelets in the future.

@jim-v jim-v mentioned this issue Jan 26, 2017
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@jim-v jim-v closed this as completed in #51 Jan 27, 2017
@ghost ghost removed the in review label Jan 27, 2017
@rohbotics rohbotics added this to the Version 0.6.0 milestone Jan 28, 2017
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