ar_track_alvar not detecting anything ROS Melodic, no kinect, single tag.

asked 2020-08-24 17:49:35 -0600

ToyasDhake gravatar image

updated 2022-08-07 08:56:35 -0600

lucasw gravatar image

I am using ar_track_alvar package to track single marker without kinect. But empty list is published on /ar_pose_marker no matter how much I increase max_track_error.

Steps I followed:

  1. roslaunch usb_cam usb_cam-test.launch
  2. rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 1 /map /usb_cam
  3. Final launch file.

        <launch>
    
        <arg name="marker_size"          default="5.0" />
        <arg name="max_new_marker_error" default="0.05" />
        <arg name="max_track_error"      default="0.05" />
    
        <arg name="cam_image_topic"      default="/usb_cam/image_raw" />
        <arg name="cam_info_topic"       default="/usb_cam/camera_info" />
        <arg name="output_frame"         default="/map" />
    
        <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
            <param name="marker_size"           type="double" value="$(arg marker_size)" />
            <param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
            <param name="max_track_error"       type="double" value="$(arg max_track_error)" />
            <param name="output_frame"          type="string" value="$(arg output_frame)" />
    
            <remap from="camera_image"  to="$(arg cam_image_topic)" />
            <remap from="camera_info"   to="$(arg cam_info_topic)" />
        </node>
    </launch>
    

Any ideas? Thanks!

edit retag flag offensive close merge delete