The launch file must ideally run the simulator alongwith the required nodes in the whycon package to detect markers in the image published by the overhead camera in Gazebo and should output a window of detected WhyCon markers [closed]

asked 2019-11-01 12:00:23 -0600

Debanik Roy gravatar image

updated 2019-11-02 16:51:07 -0600

jayess gravatar image

The launch file must ideally run the simulator alongwith the required nodes in the whycon package to detect markers in the image published by the overhead camera in Gazebo and should output a window of detected WhyCon markers

#!/usr/bin/env python

import rospy
import roslib
import tf

from geometry_msgs.msg import PoseArray

#Defining a class
class Marker_detect():

    def __init__(self):
        rospy.init_node('marker_detection',anonymous=False) # initializing a ros node with name marker_detection

        self.whycon_marker = {} # Declaring dictionaries

        rospy.Subscriber('/whycon/poses',PoseArray,self.whycon_data)    # Subscribing to topic

    # Callback for /whycon/poses
    # Please fill in the function
    def whycon_data(self,msg):


        # Printing the detected markers on terminal
        print(self.whycon_marker)


if __name__=="__main__":
    marker = Marker_detect()
    while not rospy.is_shutdown():
        rospy.spin()
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Closed for the following reason Question does not follow our guidelines for questions. Please see: http://wiki.ros.org/Support for more details. by mgruhler
close date 2019-11-04 01:29:04.847607