aruco_markers repository

aruco_markers aruco_markers_msgs

Repository Summary

Checkout URI	https://github.com/namo-robotics/aruco_markers.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-02
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
aruco_markers	0.0.0
aruco_markers_msgs	0.0.1

README

aruco_markers

A ros2 package for detecting ArUco markers. This package provides a ros2 node that listens to a camera image topic, detects all markers using OpenCV, and publishes them as an array, including their poses relative to the camera frame. It has been tested in ros2 Humble, Iron, and Jazzy.

Dependencies

The package depends at the very leas on ros2 and OpenCV. You can install OpenCV with:

sudo apt install libopencv-dev

build

colcon build

Run

source install/setup.bash
ros2 run aruco_markers aruco_markers --ros-args \
  -p marker_size:=0.1 \
  -p camera_frame:=camera_rgb_optical_frame \
  -p image_topic:=/camera/color/image_raw \
  -p camera_info_topic:=/camera/color/camera_info \
  -p dictionary:=DICT_4X4_1000

A MarkerArray message is publish to the /aruco/markers topic

$ ros2 topic echo /aruco/markers
header:
  stamp:
    sec: 178
    nanosec: 814000000
  frame_id: camera_rgb_optical_frame
markers:
- header:
    stamp:
      sec: 178
      nanosec: 800000000
    frame_id: camera_rgb_optical_frame
  id: 203
  pose:
    header:
      stamp:
        sec: 178
        nanosec: 800000000
      frame_id: camera_rgb_optical_frame
    pose:
      position:
        x: -0.0258284514368117
        y: 0.10862779162531593
        z: 0.8941065429802411
      orientation:
        x: 0.9996631084061267
        y: 0.00220962443742458
        z: -0.003103434873084155
        w: -0.025674032477091293
  pixel_x: 273.0
  pixel_y: 276.0
---

An image with the marker coord axes drawn is publish to /aruco/result

Example Example

The available aruco dictionaries are

DICT_4X4_50
DICT_4X4_100
DICT_4X4_250
DICT_4X4_1000
DICT_5X5_50
DICT_5X5_100
DICT_5X5_250
DICT_5X5_1000
DICT_6X6_50
DICT_6X6_100
DICT_6X6_250
DICT_6X6_1000
DICT_7X7_50
DICT_7X7_100
DICT_7X7_250
DICT_7X7_1000
DICT_ARUCO_ORIGINAL
DICT_APRILTAG_16h5
DICT_APRILTAG_25h9
DICT_APRILTAG_36h10
DICT_APRILTAG_36h11 

CONTRIBUTING

No CONTRIBUTING.md found.

aruco_markers repository

aruco_markers aruco_markers_msgs

Repository Summary

Checkout URI	https://github.com/namo-robotics/aruco_markers.git
VCS Type	git
VCS Version	jazzy
Last Updated	2025-04-02
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
aruco_markers	0.0.0
aruco_markers_msgs	0.0.1

README

aruco_markers

A ros2 package for detecting ArUco markers. This package provides a ros2 node that listens to a camera image topic, detects all markers using OpenCV, and publishes them as an array, including their poses relative to the camera frame. It has been tested in ros2 Humble, Iron, and Jazzy.

Dependencies

The package depends at the very leas on ros2 and OpenCV. You can install OpenCV with:

sudo apt install libopencv-dev

build

colcon build

Run

source install/setup.bash
ros2 run aruco_markers aruco_markers --ros-args \
  -p marker_size:=0.1 \
  -p camera_frame:=camera_rgb_optical_frame \
  -p image_topic:=/camera/color/image_raw \
  -p camera_info_topic:=/camera/color/camera_info \
  -p dictionary:=DICT_4X4_1000

A MarkerArray message is publish to the /aruco/markers topic

$ ros2 topic echo /aruco/markers
header:
  stamp:
    sec: 178
    nanosec: 814000000
  frame_id: camera_rgb_optical_frame
markers:
- header:
    stamp:
      sec: 178
      nanosec: 800000000
    frame_id: camera_rgb_optical_frame
  id: 203
  pose:
    header:
      stamp:
        sec: 178
        nanosec: 800000000
      frame_id: camera_rgb_optical_frame
    pose:
      position:
        x: -0.0258284514368117
        y: 0.10862779162531593
        z: 0.8941065429802411
      orientation:
        x: 0.9996631084061267
        y: 0.00220962443742458
        z: -0.003103434873084155
        w: -0.025674032477091293
  pixel_x: 273.0
  pixel_y: 276.0
---

An image with the marker coord axes drawn is publish to /aruco/result

Example Example

The available aruco dictionaries are

DICT_4X4_50
DICT_4X4_100
DICT_4X4_250
DICT_4X4_1000
DICT_5X5_50
DICT_5X5_100
DICT_5X5_250
DICT_5X5_1000
DICT_6X6_50
DICT_6X6_100
DICT_6X6_250
DICT_6X6_1000
DICT_7X7_50
DICT_7X7_100
DICT_7X7_250
DICT_7X7_1000
DICT_ARUCO_ORIGINAL
DICT_APRILTAG_16h5
DICT_APRILTAG_25h9
DICT_APRILTAG_36h10
DICT_APRILTAG_36h11 

CONTRIBUTING

No CONTRIBUTING.md found.

aruco_markers repository

aruco_markers aruco_markers_msgs

Repository Summary

Checkout URI	https://github.com/namo-robotics/aruco_markers.git
VCS Type	git
VCS Version	rolling
Last Updated	2025-04-02
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
aruco_markers	0.0.0
aruco_markers_msgs	0.0.1

README

aruco_markers

A ros2 package for detecting ArUco markers. This package provides a ros2 node that listens to a camera image topic, detects all markers using OpenCV, and publishes them as an array, including their poses relative to the camera frame. It has been tested in ros2 Humble, Iron, and Jazzy.

Dependencies

The package depends at the very leas on ros2 and OpenCV. You can install OpenCV with:

sudo apt install libopencv-dev

build

colcon build

Run

source install/setup.bash
ros2 run aruco_markers aruco_markers --ros-args \
  -p marker_size:=0.1 \
  -p camera_frame:=camera_rgb_optical_frame \
  -p image_topic:=/camera/color/image_raw \
  -p camera_info_topic:=/camera/color/camera_info \
  -p dictionary:=DICT_4X4_1000

A MarkerArray message is publish to the /aruco/markers topic

$ ros2 topic echo /aruco/markers
header:
  stamp:
    sec: 178
    nanosec: 814000000
  frame_id: camera_rgb_optical_frame
markers:
- header:
    stamp:
      sec: 178
      nanosec: 800000000
    frame_id: camera_rgb_optical_frame
  id: 203
  pose:
    header:
      stamp:
        sec: 178
        nanosec: 800000000
      frame_id: camera_rgb_optical_frame
    pose:
      position:
        x: -0.0258284514368117
        y: 0.10862779162531593
        z: 0.8941065429802411
      orientation:
        x: 0.9996631084061267
        y: 0.00220962443742458
        z: -0.003103434873084155
        w: -0.025674032477091293
  pixel_x: 273.0
  pixel_y: 276.0
---

An image with the marker coord axes drawn is publish to /aruco/result

Example Example

The available aruco dictionaries are

DICT_4X4_50
DICT_4X4_100
DICT_4X4_250
DICT_4X4_1000
DICT_5X5_50
DICT_5X5_100
DICT_5X5_250
DICT_5X5_1000
DICT_6X6_50
DICT_6X6_100
DICT_6X6_250
DICT_6X6_1000
DICT_7X7_50
DICT_7X7_100
DICT_7X7_250
DICT_7X7_1000
DICT_ARUCO_ORIGINAL
DICT_APRILTAG_16h5
DICT_APRILTAG_25h9
DICT_APRILTAG_36h10
DICT_APRILTAG_36h11 

CONTRIBUTING

No CONTRIBUTING.md found.

aruco_markers repository

No version for distro noetic. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro ardent. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro crystal. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro dashing. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro galactic. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro foxy. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro iron. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro lunar. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro jade. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro indigo. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro hydro. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

aruco_markers repository

No version for distro melodic. Known supported distros are highlighted in the buttons above.