Configuration on the xaiver
Enviroment: opencv 4.1.1
1.git clone https://github.com/pal-robotics/aruco_ros
2.Error
2.1-cannot find opencv4
set opencv version_required 4 in the Cmakelists.txt
2.2-can not find <cv/opencv.h>
replaced with <opencv2/opencv.h>
2.2-not defined BGR2RGB
“CV_BGR2GRAY”: 未声明的标识符
https://blog.csdn.net/tsyccnh/article/details/38920439
2.3-not defined CV_AA
#define CV_AA 16
2.4 not defined CV_FILLED
#define CV_FILLED -1
1.https://github.com/pal-robotics/aruco_ros
2.https://blog.csdn.net/qq_34935373/article/details/105098244#comments_12350804
使用记录:
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启动ros
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roscore
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启动realsense相机
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roslaunch realsense2_camera rs_camera.launch
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配置aruco_ros环境
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打开~/catkin_ws/
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source install/setup.bash
4.启动aruco_ros
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roslaunch aruco_ros single.launch markerId:=246 markerSize:=0.143 eye:="right"
5.在rviz下查看检测结果。
6.查看姿态信息(use markerID setted):
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rostopic echo /aruco_single/pose