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tf for mutiple Aruco markers [closed]

asked 2018-11-19 04:19:03 -0600

tsdk00 gravatar image

updated 2018-11-19 04:28:59 -0600

gvdhoorn gravatar image

Hi, I'm able to get the tf for one Aruco marker .Here is my code snippet

br = tf.TransformBroadcaster()


br.sendTransform((msg.pose.position.x,msg.pose.position.y,msg.pose.position.z),
                     (msg.pose.orientation.x,msg.pose.orientation.y,msg.pose.orientation.z,msg.pose.orientation.w),
                     rospy.Time.now(),
                     msg.child_frame_id,
                     "/camera_link")

So, if i have multiple markers how to add frames for each of the detected marker`?

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Closed for the following reason the question is answered, right answer was accepted by tsdk00
close date 2018-11-21 03:59:24.169822

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answered 2018-11-21 03:58:47 -0600

tsdk00 gravatar image

I solved it by adding an array type message then subscribing to it. No more hard-coding required.

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answered 2018-11-19 06:20:10 -0600

Markus Bader gravatar image

Hi

Have a look at the http://wiki.ros.org/tuw_aruco ros pkg it has this feature image description

Max

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I've seen that package. But i created my own using python. The best solution i can find is harcode it for now.

tsdk00 gravatar imagetsdk00 ( 2018-11-19 08:01:24 -0600 )edit

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Asked: 2018-11-19 04:19:03 -0600

Seen: 322 times

Last updated: Nov 21 '18