Does aruco_ros need?

[ccc1711]

Do I still need aruco_ros if I use easy_aruco?

[marcoesposito1988]

Hi @ccc1711,

if you just need to track the pose of a single ArUco marker or ChArUco board, easy_aruco can replace aruco_ros. It does not depend on it, it just wraps the OpenCV ArUco module.

If you need one of the more advanced functionality of the aruco_ros library, then you'll need to use that one.

[ccc1711]

@marcoesposito1988 ok thanks! and why /easy_aruco_node/debug_image topic shows "No Image" in Rviz?

[marcoesposito1988]

This should be because the camera_namespace launch argument is incorrect. You can use roswtf to check that the input topics of the easy_aruco node are connected to the output topics of the camera driver

[ccc1711]

This should be because the camera_namespace launch argument is incorrect. You can use roswtf to check that the input topics of the easy_aruco node are connected to the output topics of the camera driver

I use the correct parameters of camera_namespace and I use roswtf to check and it shows that WARNING The following node subscriptions are unconnected: */easy_aruco_node: */camera/color/image_rect_color WARNING No tf messages

[marcoesposito1988]

Could you please just start the camera driver, and post the output of rostopic list?

[ccc1711]

Could you please just start the camera driver, and post the output of rostopic list?

[marcoesposito1988]

I see. Can you try changing this line from image_rect_color to image_rect_raw? https://github.com/marcoesposito1988/easy_aruco/blob/master/src/Detector.cpp#L62

[marcoesposito1988]

I see. Can you try changing this line from image_rect_color to image_rect_raw? master/src/Detector.cpp#L62

Sorry, this was incorrect. Can you post the output of rostopic info /camera/color/image_rect_color?

[ccc1711]

I see. Can you try changing this line from image_rect_color to image_rect_raw? master/src/Detector.cpp#L62

Sorry, this was incorrect. Can you post the output of rostopic info /camera/color/image_rect_color?

[marcoesposito1988]

The camera node is supposed to publish that topic, but it isn't. Are you using a realsense? You may need to start rs_rgbd.launch
IntelRealSense/realsense-ros#1029 (comment)
https://github.com/IntelRealSense/realsense-ros/blob/ddd6fe116859b960a59412538e91d085a368c871/realsense2_camera/launch/rs_rgbd.launch#L28

[ccc1711]

The camera node is supposed to publish that topic, but it isn't. Are you using a realsense? You may need to start rs_rgbd.launch IntelRealSense/realsense-ros#1029 (comment) https://github.com/IntelRealSense/realsense-ros/blob/ddd6fe116859b960a59412538e91d085a368c871/realsense2_camera/launch/rs_rgbd.launch#L28

Thank you for solving my confusion~
i am using Realsense D435i now, and i start rs_camera.launch to start the camera driver
but if i start the rs_rgbd.launch , it will fail

[marcoesposito1988]

it looks like you need to install rgbd_launch

[ccc1711]

it looks like you need to install rgbd_launch

Thanks, it worked! I get marker_0 - marker_30 frames in tf ,and which one should I use as the tracking_marker_frame ？

[marcoesposito1988]

Are you using a board? It sounds like you are using the marker tracking node with a board, and it is tracking each marker individually.

You can use any of them, but the precision would be worse than using the whole board. For that you need to use the board tracking marker with the right ID

[ccc1711]

Are you using a board? It sounds like you are using the marker tracking node with a board, and it is tracking each marker individually.

You can use any of them, but the precision would be worse than using the whole board. For that you need to use the board tracking marker with the right ID

Okay~ I got it! I forgot to change the value of parameter “object_type” to “charuco_board”，and
Now i has successed!
Thank you for your patience in solving my problems！
Wish you a happy life~

[marcoesposito1988]

Happy to hear that 😄 fingers crossed for your endeavors!

[gavin112-lhy]

Hi sir, I am able to recognize the board however the tf of the camera link is missing, but the board can be tracked. Is it normal?

And in the following second capture showing the easy_handeye calibration gui is working on sample taking, will the missing of the tf of the camera link affect the result?

[marcoesposito1988]

Hi @gavin112-lhy,

this is because you shouldn't use the color optical frame as camera frame for the realsense, but camera_link. Please check the example launch file for the realsense in the easy_handeye docs

[waliwali1111]

Hi @gavin112-lhy ,
I also want to use charuco for hand-eye calibration, but I don’t know how to combine it with easy_handeye. Can you give me some advice?