From fa863d4e773eca1814ef27ca85a58ec1bb3b4290 Mon Sep 17 00:00:00 2001 From: spirkelmann Date: Mon, 12 Aug 2019 12:31:36 +0200 Subject: [PATCH] minor formatting fixes --- docs/4_ROS_SETUP.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/docs/4_ROS_SETUP.md b/docs/4_ROS_SETUP.md index cc67bbb..57429cd 100644 --- a/docs/4_ROS_SETUP.md +++ b/docs/4_ROS_SETUP.md @@ -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.