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Launch AprilTag

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This commit is contained in:
Michel Breyer 2021-12-03 10:53:23 +01:00
parent ba03f501b7
commit ecb6da23eb
4 changed files with 45 additions and 6 deletions
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12
cfg/apriltag.yaml Normal file
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# AprilTag 3 code parameters
tag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12
tag_threads: 2 # default: 2
tag_decimate: 1.0 # default: 1.0
tag_blur: 0.0 # default: 0.0
tag_refine_edges: 1 # default: 1
tag_debug: 0 # default: 0
publish_tf: true # default: false
# Definitions of tags to detect
standalone_tags: [{id: 0, size: 0.091}]
tag_bundles: []

20
launch/apriltag.launch Normal file
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<launch>
<!-- Panda -->
<include file="$(find active_grasp)/launch/panda.launch" />
<!-- Camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" />
<arg name="enable_infra1" value="true" />
<arg name="publish_tf" value="false" />
</include>
<!-- AprilTag -->
<node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros" clear_params="true" output="screen">
<rosparam command="load" file="$(find active_grasp)/cfg/apriltag.yaml" />
<remap from="image_rect" to="/camera/infra1/image_rect_raw" />
<remap from="camera_info" to="/camera/infra1/camera_info" />
<param name="camera_frame" type="str" value="camera_depth_optical_frame" />
<param name="publish_tag_detections_image" type="bool" value="true" />
</node>
</launch>

13
launch/hw.launch Normal file
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<?xml version="1.0" ?>
<launch>
<!-- Panda -->
<include file="$(find active_grasp)/launch/panda.launch" />
<!-- Camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" />
</include>
</launch>

6
launch/panda.launch
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<rosparam command="load" file="$(find panda_controllers)/config/controllers.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="--stopped position_joint_trajectory_controller cartesian_velocity_controller"/>
<!-- Camera -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
<arg name="enable_pointcloud" value="true" />
<arg name="publish_tf" value="false" />
</include>
</launch>