我目前正在使用ROS包fiducial_slam。我得到ArUco markers的位置和方向。
是否可以创建地图，以便在移动相机时我仍可以在rviz中看到标记？我正在寻找这样的东西：
https://www.youtube.com/watch?time_continue=4&v=MlOy9qt_K4Y
不幸的是，aruco_mapping包不再适用于Kinetic Kame。它与fiducial_slam一起使用吗？我必须选择哪些参数？
picture1:camera detects all markers
picture2: marker are not in camera view anymore
picture3: marker are not the same like the transformed based
启动档案：
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node">
<remap from="usb_cam/image_raw" to="camera"/>
</node>
<node name="aruco" pkg="aruco_detect" type="aruco_detect">
<param name="dictionary" type="int" value="0"/>
<param name="fiducial_len" type="double" value="0.36"/>
</node>
<arg name="publish_tf" default="true"/>
<arg name="do_pose_estimation" default="false"/>
<node type="fiducial_slam" pkg="fiducial_slam" output="screen"
name="fiducial_slam">
<param name="map_file" value="$(env HOME)/.ros/slam/map.txt" />
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="future_date_transforms" value="0.0" />
<param name="publish_6dof_pose" value="false" />
<param name="do_pose_estimation" value="$(arg do_pose_estimation)"/>
<param name="fiducial_len" value="0.36"/> <!-- 0.36m -->
<remap from="/camera_info" to="/camera/camera_info"/>
</node>
</launch>
答案 0 :(得分：0)
如果节点完全正常，则将fiducials (visualization_msgs/Marker)添加到rviz