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import ar_track_alvar

asked 2018-10-11 02:11:07 -0500

lr101095 gravatar image

can anyone tell me how to include ar_track_alvar in a python script?

can anyone also clarify is ar_track_alvar is compatible with writing in python? I've seen more examples of ar_track_alvar usage in C++.

Thanks in advance

Cheers, Luke

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answered 2018-10-11 02:23:51 -0500

You can run ar_track_alvar as a stand alone node and then subscribe to the ar_pose_marker topic it produces or the TF frames that it broadcasts from your python script. This way you don't have to interact directly with the code of ar_track_alvar at all.

You'll need to add a package dependency on the ar_track_alvar package because it uses a custom message type to publish these pose estimates, but apart from that it should be as simple as adding a subscriber to your python node.

Hope this helps.

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I'm fairly new to this, so how and where would you add the ar_track_alvar dependency? also, since ar_track_alvar uses a bespoke message type, how would i make use of the pose? I'm assuming i would have to convert to a PoseStamped message somehow?

lr101095 gravatar image lr101095  ( 2018-10-23 00:21:20 -0500 )edit

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Asked: 2018-10-11 02:11:07 -0500

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Last updated: Oct 11 '18