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aruco.launch
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aruco.launch
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<launch>
<arg name="aruco_detect" default="true"/>
<arg name="aruco_map" default="true"/>
<arg name="aruco_vpe" default="true"/>
<!-- For additional help go to https://clover.coex.tech/aruco -->
<!-- aruco_detect: detect aruco markers, estimate poses -->
<node name="aruco_detect" pkg="nodelet" if="$(arg aruco_detect)" type="nodelet" args="load aruco_pose/aruco_detect nodelet_manager" output="screen" clear_params="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
<param name="estimate_poses" value="true"/>
<param name="send_tf" value="true"/>
<param name="known_tilt" value="map"/>
<param name="length" value="0.33"/>
<!-- aruco detector parameters -->
<param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
<param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
</node>
<!-- aruco_map: estimate aruco map pose -->
<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(arg aruco_map)" args="load aruco_pose/aruco_map nodelet_manager" output="screen" clear_params="true">
<remap from="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/>
<remap from="markers" to="aruco_detect/markers"/>
<param name="map" value="$(find aruco_pose)/map/animation_map.txt"/>
<param name="known_tilt" value="map"/>
<param name="image_axis" value="true"/>
<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
<param name="markers/frame_id" value="aruco_map"/>
<param name="markers/child_frame_id_prefix" value="aruco_"/>
</node>
<!-- vpe publisher from aruco markers -->
<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(arg aruco_vpe)" output="screen" clear_params="true">
<remap from="~pose_cov" to="aruco_map/pose"/>
<remap from="~vpe" to="mavros/vision_pose/pose"/>
<param name="frame_id" value="aruco_map_detected"/>
<param name="publish_zero" value="true"/>
<param name="offset_frame_id" value="aruco_map"/>
</node>
</launch>