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You can also use ar_track_alvar to broadcast TFs from the camera frame to the markers. Using these you can replace everything in your localizePart() function with a single lookupTransform call. This call would simply lookup the transform from the frame given in the service request to the frame of the maker.

The specific error you're getting is caused by code from different versions of ROS or the package. But I'd recommend you use the TF only approach it will be much simpler to build, and can be introspected using RVIZ.

Hope this helps.