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aruco.launch: add placement, length and map arguments

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This commit is contained in:
Oleg Kalachev
2020-10-20 13:22:55 +03:00
parent c93beec30d
commit d6590e9a8d
5 changed files with 52 additions and 32 deletions
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15
docs/en/aruco_map.md
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@@ -1,5 +1,9 @@
# Map-based navigation with ArUco markers
> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_map.md).
<!-- -->
> **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera_setup.md).
<!-- -->
@@ -39,13 +43,14 @@ marker_id marker_size x y z z_angle y_angle x_angle
`N_angle` is the angle of rotation along the `N` axis in radians.
Map path is defined in the `map` parameter:
Файлы карт располагаются в каталоге `~/catkin_ws/src/clover/aruco_pose/map`. Название файла с картой задается в аргументе `map`:
Map files are located at the `~/catkin_ws/src/clover/aruco_pose/map` directory. Map file name is defined in the `map` argument:
```xml
<param name="map" value="$(find aruco_pose)/map/map.txt"/>
<arg name="map" default="map.txt"/>
```
Some map examples are provided in [`~/catkin_ws/src/clover/aruco_pose/map`](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
Some map examples are provided in [the directory](https://github.com/CopterExpress/clover/tree/master/aruco_pose/map).
Grid maps may be generated using the `genmap.py` script:
@@ -152,10 +157,10 @@ If the drone's altitude is not stable, try increasing the `MPC_Z_VEL_P` paramete
In order to navigate using markers on the ceiling, mount the onboard camera so that it points up and [adjust the camera frame accordingly](camera_setup.md).
You should also set the `known_tilt` parameter to `map_flipped` in both `aruco_detect` and `aruco_map` sections of `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
You should also set the `placement` parameter to `ceilin` in `~/catkin_ws/src/clover/clover/launch/aruco.launch`:
```xml
<param name="known_tilt" value="map_flipped"/>
<arg name="placement" default="ceiling"/>
```
This will flip the `aruco_map` frame (making its **<font color=blue>z</font>** axis point downward). Thus, in order to fly 2 metres below ceiling, the `z` argument for the `navigate` service should be set to 2:

20
docs/en/aruco_marker.md
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@@ -1,5 +1,9 @@
# ArUco marker detection
> **Note** The following applies to [image versions](image.md) **0.22** and up. Older documentation is still available for [for version **0.20**](https://github.com/CopterExpress/clover/blob/v0.20/docs/en/aruco_marker.md).
<!-- -->
> **Info** Marker detection requires the camera module to be correctly plugged in and [configured](camera.md).
`aruco_detect` module detects ArUco markers and publishes their positions in ROS topics and as [TF frames](frames.md).
@@ -22,22 +26,20 @@ For enabling detection set the `aruco_detect` argument in `~/catkin_ws/src/clove
<arg name="aruco_detect" default="true"/>
```
For the module to work correctly the following parameters should be set:
For the module to work correctly the following arguments should also be set:
```xml
<param name="length" value="0.32"/> <!-- length of a single marker, in meters (excluding the white border) -->
<param name="estimate_poses" value="true"/> <!-- position estimation for single markers -->
<param name="send_tf" value="true"/> <!-- TF frame creation for markers -->
<param name="known_tilt" value="map"/> <!-- Marker tilt, explained below -->
<arg name="placement" default="floor"/> <!-- markers' placement, explained below -->
<arg name="length" default="0.33"/> <!-- length of a single marker, in meters (excluding the white border) -->
```
`known_tilt` should be set to:
`placement` argument should be set to:
* `map` if *all* markers are on the ground;
* `map_flipped` if *all* markers are on the ceiling;
* `floor` if *all* markers are on the ground;
* `ceiling` if *all* markers are on the ceiling;
* an empty string otherwise.
You may specify length for each marker individually by using the `length_override` parameter:
You may specify length for each marker individually by using the `length_override` parameter of the node `aruco_detect`:
```xml
<param name="length_override/3" value="0.1"/> <!-- marker with id=3 has a side of 0.1m -->