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fiducials: fiducial_detect | fiducial_lib | fiducial_pose | fiducial_slam

Package Summary

Hercules sensor fusion exploration

  • Maintainer status: developed
  • Maintainer: Jim Vaughan <jimv AT mrjim DOT com>, Rohan Agrawal <send2arohan AT gmail DOT com>
  • Author: Jim Vaughan <jimv AT mrjim DOT com>
  • License: TODO
  • Source: git https://github.com/UbiquityRobotics/fiducials.git (branch: indigo-devel)
fiducials: aruco_detect | fiducial_msgs | fiducial_slam

Package Summary

ROS node to build a 3D map of fiducials and estimate robot pose from fiducial transforms

  • Maintainer status: developed
  • Maintainer: Jim Vaughan <jimv AT mrjim DOT com>, Rohan Agrawal <send2arohan AT gmail DOT com>
  • Author: Jim Vaughan <jimv AT mrjim DOT com>
  • License: BSD
  • Source: git https://github.com/UbiquityRobotics/fiducials.git (branch: kinetic-devel)
fiducials: aruco_detect | fiducial_msgs | fiducial_slam

Package Summary

ROS node to build a 3D map of fiducials and estimate robot pose from fiducial transforms

  • Maintainer status: developed
  • Maintainer: Jim Vaughan <jimv AT mrjim DOT com>, Rohan Agrawal <send2arohan AT gmail DOT com>
  • Author: Jim Vaughan <jimv AT mrjim DOT com>
  • License: BSD
  • Source: git https://github.com/UbiquityRobotics/fiducials.git (branch: kinetic-devel)

Nodes

fiducial_slam

fiducial_slam receives fiducial_poses from aruco_detect and combines them to build a map of fiducial locations and an estimate of the robot's pose.

Subscribed Topics

/fiducial_transforms (fiducial_msgs/FiducialTransform) /tf (tf/tfMessage)

Published Topics

/fiducial_pose (geometry_msgs/PoseWithCovarianceStamped) fiducials (visualization_msgs/Marker) /fiducial_map (fiducial_msgs/FiducialMapEntryArray) /tf (tf/tfMessage)

Services

~clear_map (std_srvs/Empty)

Parameters

~map_file (string, default: map.txt) ~odom_frame (string, default: not set) ~map_frame (string, default: map) ~base_frame (string, default: base_link) ~future_date_transforms (double, default: 0.1) ~publish_6dof_pose (bool, default: false) ~read_only_map (bool, default: false) ~tf_publish_interval (float, default: 1.0)

File Formats

The map file is a text file with a line for each fiducial id: `

id x y z pan tilt roll variance numObservations links

x, y and z specify the translation of the fiducial from the origin in meters, and pan, tilt, and roll specify its orientation in degrees. The fields variance and numObservations represent how good the pose estimate is considered to be, and how many observations were used to generate it. links is a list of the ids of fiducials that have been observed at the same time as the current fiducial. The coordinate frame used is the map frame, which is relative to the floor, so markers of the ceiling will have been rotated. The supplied launch files specify the map file as ~/.ros/slam/map.txt.


2019-12-07 12:37