However, is there any parameters (args) that I can set in the launch file for a confidence threshold? to use Codespaces. However, I had a following error. #94 @jspricke The API changes between OpenCV3 and 4 seem trivial. Well occasionally send you account related emails. Repos. It looks like all of its dependencies have been released, and recursively 14 repos need it. I also see that Intermodalics has a noetic-devel branch, which sees recent contributions, e.g. Known supported distros are highlighted in the buttons above. ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. Any kind . As I said, this is probably not the "proper" way to fix it, but it gets the job done for what I need. Install the packages: sudo apt-get install ros-kinetic-ar-track-alvar We are going to use a webcam but you can also use a kinect. I see @haraisao also has a PR for a noetic devel branch. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. This is definitely helpful, but I was wondering if it would be possible to get the pose estimates of the other tags as well. GitHub - ros-perception/ar_track_alvar: AR tag tracking library for ROS ros-perception / ar_track_alvar Public forked from sniekum/ar_track_alvar Notifications Fork 278 Star 105 Wiki melodic-devel 9 branches 23 tags Go to file Code This branch is 42 commits ahead, 25 commits behind sniekum:indigo-devel . any chance this is going to get merged in and released? . is this repo still actively maintained? ROS Resources: Documentation | Support | Discussion . The marker tf names that I can see after running view_frames are ar_maker_0, ar_marker_1 etc. @sniekum are you still involved? I want to use ZED camera for tracking AR tags. Ive done so. The reason I need the confidence is so that could set a confidence threshold and reject those detected tags which have a lower confidence value than the threshold. My client machine is on Hydro and ROS master is running on Groovy (its a pain to upgrade the computers on our robot, so we just stuck with the installed versions). ar_track_alvar uses the long dead C API for OpenCV. Thank you. Saito
. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Are you sure you want to create this branch? -s ros run ar_track . The tag contains alpha, beta and release candidate versions. Now the node works well (albeit it seems slower than the melodic version). So conversion to the C++ is needed along the CV3CV4 port which is small. const char* alvar::ALVAR_VERSION_TAG = "" static: Tag version string. For example, if I had a bundle called cherios, then I would like name on the tf tree to by /cherios. Is this possible? looking at the Network of this repo ros-perception/ar_track_alvar, it looks like development of this repos has diverged onto forks Please start posting anonymously - your entry will be published after you log in or create a new account. Ive built the package before and everything works well with it. So I might consider taking a look at what machinekoder is doing. Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. @fmessmer , I did not know of the machinekoder/ar_track_alvar#noetic-devel when I started my attempt. My Labmate uses ROS melodic (ubuntu 18) and his detections are far more accurate than mine (same situation). Have you added the ar_track_alvar_msgs package available here? humble galactic foxy rolling noetic melodic. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. Here is my WIP, I already have it working: https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel. Anyways, I don't have the time to go and dig deeper at the root cause of why the quaternion retrieval failed and propose a proper pull request, but this should help anyone trying to debug it, or get it running. You signed in with another tab or window. Are you using ROS 2 (Dashing/Foxy/Rolling)? No version for distro noetic. Wiki: ar_track_alvar_msgs (last edited 2015-04-08 02:20:30 by MarcusLiebhardt), Except where otherwise noted, the ROS wiki is licensed under the, https://github.com/sniekum/ar_track_alvar_msgs.git, https://github.com/ros-perception/ar_track_alvar.git, Maintainer: Scott Niekum , Isaac I.Y. There was a problem preparing your codespace, please try again. ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding. But the tag detections are not accurate and its too noisy. Hi guys, I'm looking to use the confidence value as well, did you manage to solve this issue? Check out the ROS 2 Documentation. (from this link). Have a question about this project? ar_track_alvar Author(s): Scott Niekum AR_ID065535 ros run ar_track_alvar createMarker 0 3. But maybe we could connect and try to solve this issue together. or provide and link a pr, please - so people can build on top of your work and test it https://github.com/rios-ai/ar_track_alvar/tree/feature/rios_bug_fix. The /ar_track_alvar/Pose does not show any message and TF also does not show up Can anyone please help me in this regard ? I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. But this can't be done if the confidence value is always zero. How to install @machinekoder 's ar_track_alvar? Turns out porting is not as easy as first thought. Also, ZED SDK has been installed correctly. @wmmc88 I'm going for it next week as we finally moved to noetic. I will start working on this next week. Ar_track_alvar for ROS noetic Software ROS1 hamidhma September 22, 2021, 6:02pm #1 Hi, I want to use ZED camera for tracking AR tags. Track orientation based only on features in the image plane. A tag already exists with the provided branch name. My approach is to do the checking in the code I write. $ sudo apt-get install ros -melodic-ar-tr. No. There is quite a lot cv code in there that needs to be translated. Have you found an answer to (2)? This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Thank you @pmusau17 I successfully built in ROS noetic as well. In my case I added the following to force 4.2.0 usage for libopencv_core. Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. To use the camera, we need to install the right drivers: # web cam driver sudo apt-get install ros-kinetic-usb-cam # Kinect driver sudo apt-get install ros-kinetic-freenect-launch Run the usb camera: Thanks in advance. Older. Turns out porting is not as easy as first thought. Another option, there is a ar marker lib for python, I might can scan AR tag manually in ros2. Thanks for looking into this. @chriskeraly-rios @machinekoder are either of you planning to make a noetic-devel PR? Learn how to add an AR tag 3D element in Gazebo to use it for your AR tracking programs in ROS: https://answers.ros.org/question/240392/add-ar-tag-in-gazebo/. . I am newbie in ROS and first time using ar_track_alvar. Once I have noetic running here I can give it a shot. If nothing happens, download GitHub Desktop and try again. Definition at line 203 of file Alvar.h. Fore some reason I got installed OpenCV 4.5.4 and 4.2.0. Essentially the way the quaternions were retrieved didn't work properly. ar_track_alvar 1. ar_track_alvar sudo apt-get install ros -melodic-ar-track-alvar 2. Home. Are you working on Indigo? Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. ROS Resources: . Have you been able to make some progress? Done Building dependency tree Reading state information. I am using ZED camera. Nope. Switched to this branch. ar_track_alvar Author(s): Scott Niekum autogenerated on Mon Jun 10 2019 12:47:04 . As I understand and have verified, when using the bundle version, ar_track_alvar provides the pose estimate of the master tag regardless of which tag is visible to the camera. No version for distro humble. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. ar_track_alvar. I checked the parameters in rosrun rqt_reconfigure rqt_reconfigure and they are all the same either with the zed parameters and ar_track_alvar parameters. We're definitely not close to something that works. sign in Following the installation instruction , when executing the command rosdep install --from-paths src --ignore-src -r -y I see this error: I have to state that there isnt any problem with executing ZED-ROS-WRAPPER node. Work fast with our official CLI. The Noetic Migration Guide or the guide about transitioning ROS packages to Python 3 may be useful. Reading package lists. Although I am able to detect the tags, when I print the ID and the confidence, I get the confidence value to be always zero. ROS ar_track_alvar ar_track asked Aug 9 '16 anilmullapudi 75 12 15 18 updated Aug 9 '16 When i try to install the ar_track_alvar using sudo apt-get install ros-indigo-ar-track-alvar I was getting the following error. So the core effort of porting ar_track_alvar lies in converting the OpenCV C API calls with their C++ API equivalents. . Saito <gm130s AT gmail DOT com> Author: License: BSD Source: git https://github.com/ros-perception/ar_track_alvar.git (branch: kinetic-devel) Contents Documentation The ROS Wiki is for ROS 1. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. . ar_track_alvar uses the long dead C API for OpenCV. Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. Saito <130s AT 2000.jukuin.keio.ac DOT jp> Intermodalics@dcc8c40, @smits what is different between your version of Intermodalics/ar_track_alvar#noetic-devel and machinekoder/ar_track_alvar#noetic-devel. Are you sure that the tags are printed correctly and they are placed on a perfectly planar surface? could you point us to proper commit/branch which contains your fix? Sorry for beginner question, guide about transitioning ROS packages to Python 3, https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel, error installing ar_track_alvar using catkin_make with OpenCV 4.1.0, Bump CMake version to avoid CMP0048 warning, Alvar marker error message from drone_simulation. ROS Index. github-sniekum-ar_track_alvar github-sniekum-ar_track_alvar API Docs Browse Code Overview; 0 Assets; 3 Dependencies; 0 Tutorials . I've used ar_pose before on Hydro, but am facing issues setting it up for Indigo. If you build it from source it should work on Indigo without a problem. By clicking Sign up for GitHub, you agree to our terms of service and If nothing happens, download Xcode and try again. GPU: NVIDIA GTX1050Ti, Can you help me with this issue? [ERROR] [1668810254.584122576]: Error in ar_track_alvar callback: OpenCV(4.5.4) /home/ubuntu/build_opencv/opencv/modules/core/src/matrix.cpp:250: error: (-215:Assertion failed) s >= 0 in function 'setSize'. Ive built the package and it is working now. So want to build the ros dependent packages with custom opencv. As I understand and have verified, when using the bundle version, ar_track_alvar provides the pose estimate of the master tag regardless of which tag is visible to the camera. @chriskeraly-rios std::vector<PointDouble> alvar::Marker::ros_marker_points_img: Marker points in image coordinates. If I make the top tag as the master tag, I would like to get the pose estimates of say one of the tags on one of the sides. Done If not, am doing something wrong for the confidence to printed always zero? Consider for example a rectangular box which has two tags on each side (top of the side and bottom of the side) and a tag at the top for a total of 9 tags. How are you installing ar_pose? I have tracked down the issue and fixed this locally for individual markers by changing a few lines of code in **nodes/InvididualMarkersNoKinect.cpp**. How would I do this. Is it possible to customize these names so that they represent the box that is being tagged? There is quite some potential of reworking parts of the code aside from the port. I tried your code on Ubuntu 20.04. Following the installation instruction , when executing the command "rosdep install --from-paths src --ignore-src -r -y" I see this error: Screenshot from 2021-09-22 11-42-11 730124 20.9 KB ROS: noetic Here is the fix (roughly line 112). Here are the classes, structs, unions and interfaces with brief descriptions: Known supported distros are highlighted in the buttons above. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. The machinekoder repo almost works well, however, if you look at some comments on this (unrelated) issue machinekoder#1 , you will notice that there is a problem where nan is published for a lot of the results. @machinekoder are you still working on this? Uninstalled and reinstalled noetic-desktop-full but got the same problem. Here you go. I'm not sure how much work it will need. to your account. I also modified the catch at the end of the callback to catch all exceptions, because I was randomly getting cv errors that would shut down the node, which was annoying. Fusing ARTags poses with robot_localization, Installation path of groovy gscam according to wiki ? a community-maintained index of robotics software Changelog for package ar_track_alvar 0.7.1 (2017-06-14) [maintenance] Remove unnecessary metapkg. lin404 ( Jan 22 '20 ) Creative Commons Attribution Share Alike 3.0. Powered by Discourse, best viewed with JavaScript enabled. lin404 ( Jan 21 '20 ) Never mind, I have found this python resource to detect the AR tags. I have a couple of questions about the package. Do I need to configure anything separately in the ar_track_alvar package? @sloretz do you know who maintains ros-perception? CUDA: 11.0 How to use robot_localization with ar_track_alvar? @ajithcodesit I'm at it. ar_track_alvar_msgs. are you also experiencing the "nan"-issues mentioned in machinekoder#1 (comment)? OS: ubuntu 20.04 @machinekoder Thank you for releasing your code. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. . @NHirose I got the same error on a Jetson Xavier NX/Jetpack 5.0.2. [closed], Problem retrieving video from rovio camera, Time difference in showed and actual webcam image. Please privacy statement. Use Git or checkout with SVN using the web URL. AR Track Kinect This repository shows a basic implementation of the ROS ar_track_alvar library on Ubuntu 18.04 LTS using ROS Melodic and Microsoft Kinect sensor (Xbox 360). Issue : I have compiled opencv 4.1.0 with cuda support. The command after initializing catkin_init_workspace is as follows. Learn more. Sign in The text was updated successfully, but these errors were encountered: ar_track_alvar doesn't use Python, so it's only a matter of publishing the package. I have a couple of questions about the package. There should be a better way to do it, at least this way got the job done, hope it helps on your environment, regards. So conversion to the C++ is needed along the CV3CV4 port which is small. Would you mind releasing ar_track_alvar to ROS Noetic? Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. Already on GitHub? ar_track_alvar::ARCloud alvar::Marker::ros_corners_3D: Definition at line 180 of file Marker.h. I think the answer to (3) might be to create your own fork of the source code Actually, I've been away from my lab on an internship for the summer. I kind of gave up and switched back to ar_pose. @machinekoder I tried your WIP but I am not able to compile it with catkin_make. Project Structure ROS Melodic Installation Creating and Configuring a ROS Environment Installing AR Tag Tracking library Running Launch Files ROS Melodic Installation This package is a ROS wrapper for Alvar, an open source AR tag tracking library. Easier said than done, I couldn't find nice porting guide, so this will require some manual lookup old API and replace procedure. @130s you have the last commit to this repo Thank you. The solution can be that host ros1 and ros2 env at the same time, then use to get the AR tag ID via topic by using ar_track_alvar from ros1. I am using ubuntu 18.04, ROS melodic and a Realsense D435i camera for AR tag detection. You signed in with another tab or window. I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. 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