Aruco AR marker detector library (ROS noetic)

https://github.com/pal-robotics/aruco_ros

https://www.sciencedirect.com/science/article/abs/pii/S0031320314000235

hpc@hpc-ubuntu:~$ mkdir -p ~/catkin_aruco/src
hpc@hpc-ubuntu:~$ cd ~/catkin_aruco/
hpc@hpc-ubuntu:~/catkin_aruco$ cd src
hpc@hpc-ubuntu:~/catkin_aruco/src$ git clone https://github.com/pal-robotics/aruco_ros.git
Cloning into 'aruco_ros'...
remote: Enumerating objects: 1067, done.
remote: Counting objects: 100% (221/221), done.
remote: Compressing objects: 100% (75/75), done.
remote: Total 1067 (delta 151), reused 186 (delta 145), pack-reused 846
Receiving objects: 100% (1067/1067), 746.65 KiB | 2.28 MiB/s, done.
Resolving deltas: 100% (636/636), done.

hpc@hpc-ubuntu:~/catkin_aruco$ catkin_make
Base path: /home/hpc/catkin_aruco
Source space: /home/hpc/catkin_aruco/src
Build space: /home/hpc/catkin_aruco/build
Devel space: /home/hpc/catkin_aruco/devel
Install space: /home/hpc/catkin_aruco/install
Creating symlink "/home/hpc/catkin_aruco/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/hpc/catkin_aruco/src -DCATKIN_DEVEL_PREFIX=/home/hpc/catkin_aruco/devel -DCMAKE_INSTALL_PREFIX=/home/hpc/catkin_aruco/install -G Unix Makefiles" in "/home/hpc/catkin_aruco/build"
####
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/hpc/catkin_aruco/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hpc/catkin_aruco/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - aruco_msgs
-- ~~  - aruco
-- ~~  - aruco_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'aruco_msgs'
-- ==> add_subdirectory(aruco_ros/aruco_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- aruco_msgs: 2 messages, 0 services
-- +++ processing catkin package: 'aruco'
-- ==> add_subdirectory(aruco_ros/aruco)
-- Found OpenCV: /usr (found suitable version "4.2.0", minimum required is "4.2.0")
-- +++ processing catkin package: 'aruco_ros'
-- ==> add_subdirectory(aruco_ros/aruco_ros)
-- Found OpenCV: /usr (found version "4.2.0")
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hpc/catkin_aruco/build
####
#### Running command: "make -j14 -l14" in "/home/hpc/catkin_aruco/build"
####
Scanning dependencies of target std_msgs_generate_messages_eus
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# launch camera(intel realsense D455)

hpc@hpc-ubuntu:~$ roslaunch realsense2_camera rs_camera.launch  

hpc@hpc-ubuntu:~/catkin_aruco$ rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/metadata
/camera/extrinsics/depth_to_color
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/tf
/tf_static

# change launch file (aruco_ros/launch/single.launch)

<launch>

<arg name="markerId" default="23"/>

<arg name="markerSize" default="0.30"/> <!-- in m -->

<arg name="eye" default="left"/>

<arg name="marker_frame" default="aruco_marker_frame"/>

<arg name="ref_frame" default=""/> <!-- leave empty and the pose will be published wrt param parent_name -->

<arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->

<node pkg="aruco_ros" type="single" name="aruco_single">

<!--remap from="/camera_info" to="/stereo/$(arg eye)/camera_info" /-->

<!--remap from="/image" to="/stereo/$(arg eye)/image_rect_color" /-->

<remap from="/camera_info" to="/camera/color/camera_info" />

<remap from="/image" to="/camera/color/image_raw" />

<param name="image_is_rectified" value="True"/>

<param name="marker_size" value="$(arg markerSize)"/>

<param name="marker_id" value="$(arg markerId)"/>

<param name="reference_frame" value="$(arg ref_frame)"/> <!-- frame in which the marker pose will be refered -->

<param name="camera_frame" value="stereo_gazebo_$(arg eye)_camera_optical_frame"/>

<param name="marker_frame" value="$(arg marker_frame)" />

<param name="corner_refinement" value="$(arg corner_refinement)" />

</node>

</launch>

 

# launch aruco ros

hpc@hpc-ubuntu:~/catkin_aruco$ source devel/setup.bash

hpc@hpc-ubuntu:~/catkin_aruco$ roslaunch aruco_ros single.launch
... logging to /home/hpc/.ros/log/0e4a878c-4087-11ed-8f77-853331e88fb6/roslaunch-hpc-ubuntu-18058.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hpc-ubuntu:45085/

SUMMARY
========

PARAMETERS
 * /aruco_single/camera_frame: stereo_gazebo_lef...
 * /aruco_single/corner_refinement: LINES
 * /aruco_single/image_is_rectified: True
 * /aruco_single/marker_frame: aruco_marker_frame
 * /aruco_single/marker_id: 23
 * /aruco_single/marker_size: 0.3
 * /aruco_single/reference_frame:
 * /rosdistro: noetic
 * /rosversion: 1.15.14

NODES
  /
    aruco_single (aruco_ros/single)

ROS_MASTER_URI=http://localhost:11311

process[aruco_single-1]: started with pid [18076]
[ WARN] [1664518695.506888963]: Corner refinement options have been removed in ArUco 3.0.0, corner_refinement ROS parameter is deprecated
[ WARN] [1664518695.625301216]: normalizeImageIllumination is unimplemented!