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minor formatting fixes

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Simon Pirkelmann 2019-08-12 12:31:36 +02:00
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docs/4_ROS_SETUP.md
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@ -74,10 +74,13 @@ In the next step, we place markers on the robots such that the can be detected b
- Generate some ArUco markers for your robots using this [ArUco marker generator](http://chev.me/arucogen/). Choose Original ArUco as the dictionary. You may have to experiment with the marker size a bit depending on the resolution of your camera and the distance to the robots. I used markers of size `100 mm`.
- Print ArUco markers on paper. Measure the marker size and make sure that it fits the size you specified.
![Printed marker](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/markers_1.JPG)
- Cut the markers and glue them on cardboard. Make sure to leave a white border around the marker. It's also a good idea to label the marker with the id.
![Marker on cardboard](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/markers_2.JPG)
- Fix the markers on the robot. First, add a new layer to the robot using screws and then fix the marker to the layer using e.g. double sided tape or velcro tape.
![Marker on robot bottom view](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/markers_3.JPG)
![Marker on robot top view](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/markers_4.JPG)
@ -129,6 +132,7 @@ $ rosrun cv_camera cv_camera_node
$ rosrun image_view image_view image:=/cv_camera/image_raw
```
You should see a window displaying a live view of the camera image.
![image_view output](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/image_view_2.jpg)
- Start ArUco marker detection:
@ -157,6 +161,7 @@ Now when you run
$ rostopic echo /marker_id_pos_angle
```
and you place a marker in the field of view of the camera you should see the markers id, position and orientation as output on the console.
![fiducial_transform node output](https://imaginaerraum.de/git/Telos4/RoboRally/raw/branch/master/docs/images/image_view_5.jpg)
You can also access this data using a ROS listener.