camera_pose_estimation: ar_pose_demo | ar_pose_ekf | ar_pose_world_convertor | rtt_ar_pose

Package Summary

ar_pose_world_convertor: This message takes the ar pose message and ask TF for the translation to the world frame and publishes this as a message with the original covariance. A demonstration of its use can be found in ar_pose_demo package. REMARK: The covariance of the camera to the world should also be taken into account, but for the moment beeing this doesn't happen.

• Author: Koen Buys
• License: BSD, GPL, LGPL
• Repository: kul-ros-pkg
• Source: git http://git.mech.kuleuven.be/robotics/camera_pose_estimation.git

Description

This package adds a given TF transformation to a AR marker message. This allows the user to add the camera to world TF to the marker to camera transformation. An example of the use of this package can be found in the ar_pose_demo package.

Use in launch file

        <!-- Static TF from each of the camera's to the world -->
        <node pkg="tf" type="static_transform_publisher" name="world_to_cam_322" args="0.46 0 0 0 0 0 world gc655c_322 10" />

        <node pkg="ar_pose_world_convertor" type="ar_pose_world_convertor" respawn="false" name="ar_pose_world_convertor_322" >
                <param name="first_frame" type="string" value="world" />
                <param name="second_frame" type="string" value="ar_pose_marker_322" />
                <param name="marker_topic" type="string" value="ar_pose_marker_322" />
        </node>