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How to get the position of robot or drone from position of AruCo markers?

asked 2019-01-28 03:29:41 -0500

Ibrahim_aerospace gravatar image

Hello all I am using ar_track_alvar package, this package basically finds the position of marker and publishes it. What I want to do is to calculate the position of a robot or UAV from this marker position, and then apply some commands to make movements, but I dont know how to get the position of robot from position of Marker, if some can help me to give some formula or something, shall be thankful for that. I am using this package.aruco marker package

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answered 2019-01-28 04:30:21 -0500

oiseau gravatar image

I never used the ar_track_alvar package, but you can do that with aruco_detect from the Fiducials package. It publishs a topic with the position of the camera in relation to the position of the Aruco's marker.

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@oiseau thanks for reply but the packaged you referred to me uses multiple markers, but I just want to use a single marker. to estimate the pose. Is it possible ?

Ibrahim_aerospace gravatar image Ibrahim_aerospace  ( 2019-02-13 00:22:23 -0500 )edit

Yes, you only need to launch aruco_detect (roslaunch aruco_detect aruco_detect.launch) that is contained inside the package and subscribe to /fiducial_transforms to get the position. I already use it with only one marker.

oiseau gravatar image oiseau  ( 2019-02-13 09:44:45 -0500 )edit

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Asked: 2019-01-28 03:29:41 -0500

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Last updated: Jan 28 '19