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58 lines
3.4 KiB
XML
58 lines
3.4 KiB
XML
<launch>
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<arg name="aruco_detect" default="true"/>
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<arg name="aruco_map" default="false"/>
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<arg name="aruco_vpe" default="false"/>
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<arg name="placement" default="floor"/> <!-- markers placement: floor, ceiling, unknown -->
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<arg name="length" default="0.22"/> <!-- not-in-map markers length, m -->
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<arg name="map" default="map.txt"/> <!-- markers map file name -->
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<!-- For additional help go to https://clover.coex.tech/aruco -->
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<arg name="force_init" default="false"/>
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<arg name="disable" default="false"/> <!-- only force init -->
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<!-- aruco_detect: detect aruco markers, estimate poses -->
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<node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="map_markers" to="aruco_map/map"/>
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<param name="dictionary" value="2"/> <!-- DICT_4X4_250 -->
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<param name="estimate_poses" value="true"/>
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<param name="send_tf" value="true"/>
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<param name="use_map_markers" value="true"/>
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<param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
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<param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
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<param name="length" value="$(arg length)"/>
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<param name="transform_timeout" value="0.1"/>
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<!-- aruco detector parameters -->
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<param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
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<param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
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<!-- length override example: -->
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<!-- <param name="length_override/3" value="0.1"/> -->
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</node>
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<!-- aruco_map: estimate aruco map pose -->
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<node name="aruco_map" pkg="nodelet" type="nodelet" if="$(eval aruco_map and not disable)" args="load aruco_pose/aruco_map main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
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<remap from="image_raw" to="main_camera/image_raw"/>
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<remap from="camera_info" to="main_camera/camera_info"/>
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<remap from="markers" to="aruco_detect/markers"/>
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<param name="map" value="$(find aruco_pose)/map/$(arg map)"/>
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<param name="known_vertical" value="map" if="$(eval placement == 'floor' or placement == 'ceiling')"/>
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<param name="flip_vertical" value="true" if="$(eval placement == 'ceiling')"/>
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<param name="image_axis" value="true"/>
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<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
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<param name="frame_id" value="aruco_map" unless="$(arg aruco_vpe)"/>
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<param name="markers/frame_id" value="aruco_map"/>
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<param name="markers/child_frame_id_prefix" value="aruco_"/>
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</node>
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<!-- vpe publisher from aruco markers -->
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<node name="vpe_publisher" pkg="clover" type="vpe_publisher" if="$(eval aruco_vpe or force_init)" output="screen" clear_params="true">
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<remap from="~pose_cov" to="aruco_map/pose" if="$(arg aruco_vpe)"/>
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<remap from="~vpe" to="mavros/vision_pose/pose"/>
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<param name="frame_id" value="aruco_map_detected" if="$(arg aruco_vpe)"/>
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<param name="force_init" value="$(arg force_init)"/>
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<param name="offset_frame_id" value="aruco_map"/>
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</node>
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</launch>
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