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add AR tag in gazebo

asked 2016-07-26 06:38:30 -0500

wsAndy gravatar image

Hello everyone,

I'm wondering how to add an AR tag in the gazebo's world these days. But I have not found the right way to solve this problem. Or could I add an image to the world?

Thanks first!

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answered 2016-07-26 10:49:03 -0500

wsAndy gravatar image

Well, I have solved this problem. A sample approach is to change the original model. For example, since the model Beer has textures, we could change the model to AR tag. Besides , we need to replace the cylinder in model.sdf to box, and change the size of the box.

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answered 2017-02-09 19:30:29 -0500

130s gravatar image

An answer in this thread introduces a repo that contains a model for a marker ID 0. Looks like that markers of other IDs still need sdf and config.

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answered 2017-12-11 09:17:25 -0500

RDaneelOlivaw gravatar image

You can also create a Ar tag of the default ar tracking size through Blender and then export it to dae. Here I leave a video on how to do it : VIDEO on HOW TO

There are 3 main steps: 1) Generate the AR tag with the AR TRACK Package, through the command:

rosrun ar_track_alvar createMarker.

That will generate a .png of the AR defined as you want. If you use the default size, its for a 9 cm by 9 cm panel.

2) Then you create in Blender a pannel of those dimmensions using the scale functionality and the UV texture tools. You then export it to dae and save the dae and the texture in a ROS package

3) You finally execute the spawning scripts and install the models where your system needs to have them in order for GAzebo to find them. Here you have all the scripts and files I used: Gist of the Code Used image description

Hope this was usefull.

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Hi, very nice video ... can we use the same for April Tags ?

malharjajoo gravatar image malharjajoo  ( 2018-04-07 16:40:48 -0500 )edit

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Asked: 2016-07-26 06:38:30 -0500

Seen: 5,833 times

Last updated: Dec 11 '17