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created empty tf_mapping works to build
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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(tf_mapping)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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set(CMAKE_BUILD_TYPE Debug)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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tf
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std_msgs
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geometry_msgs
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sensor_msgs
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)
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#find_package(OpenCV REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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#catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES ${PROJECT_NAME}
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# CATKIN_DEPENDS roscpp std_msgs sensor_msgs control_msgs
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# DEPENDS system_lib)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS roscpp tf std_msgs geometry_msgs sensor_msgs
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# DEPENDS system_lib
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)
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# |^ rviz_visual_tools deleted in catkin depends.
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include ${catkin_INCLUDE_DIRS}
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)
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## Specify additional locations of header files
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set(HEADERSx
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include/${PROJECT_NAME}/tf_mapping_node.h
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include/${PROJECT_NAME}/helper.h
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)
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set(SOURCES
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src/helper.cpp
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)
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## Declare a cpp library
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add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
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## Declare a cpp executable
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add_executable(tf_mapping_node src/tf_mapping_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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target_link_libraries(tf_mapping_node ${PROJECT_NAME} )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} tf_mapping_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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# ## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(DIRECTORY launch
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# FILES_MATCHING PATTERN "*.launch"
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# PATTERN "*~" EXCLUDE
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# )
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# install(DIRECTORY config
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# PATTERN "*~" EXCLUDE
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_turtlebot3_arm_controller_exercise.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎LICENSE‎

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Software License Agreement (BSD License)
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Copyright (c) 2018, Markus Lamprecht (MarkusLamprecht@live.de)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of Markus Lamprecht be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md‎

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# tf_mapping
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TODO
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![aruco_detector_example](https://github.com/CesMak/aruco_detector_ocv/blob/master/data/rviz_example.png)
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The aruco_detector_osv (aruco_detector_opencv) uses the #include <opencv2/aruco.hpp> library instead of using #include <aruco/aruco.h> (ros-kinetic-aruco). This package was tested on ubuntu 16.04, ROS Kinetic with a Logitech C920 camera.
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With this package you are able to:
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* detect position and orientation of an [aruco marker](http://chev.me/arucogen/) relatively to the camera. The corresponding **tf** is published.
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* a certainty parameter of how robust the arcuco marker is detected.
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* a result image with the detected markers highlighted is published.
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Please calibrate your camera first using: [camera_calibration](http://wiki.ros.org/camera_calibration).
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If you get (when using the camera)
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```
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[ERROR] [1551630633.628039127]: Cannot identify '/dev/video0': 2, No such file or directory
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```
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do
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```
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sudo modprobe uvcvideo
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```
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See all adjustments in the **aruco_detector_osv/launch/detector.launch**
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## Installation
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install dependencies, git, use ros kinetic, ubuntu 16.04.
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```
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cd ~/Desktop
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source /opt/ros/kinetic/setup.bash
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mkdir -p catkin_ws/src
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cd catkin_ws/src/
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git clone git@github.com:CesMak/aruco_detector_ocv.git (takes some time due to included bag to test this package)
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cd ..
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catkin init -w .
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catkin build
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source devel/setup.bash
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roscd roscd aruco_detector_ocv/data/
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rosbag decompress 640x480_logitech_aruco3_compressed.orig.bag
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roslaunch aruco_detector_ocv detector.launch
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```
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## Launch
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```
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roslaunch aruco_detector_ocv detector.launch
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```
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## Dependencies:
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cv_bridge image_geometry geometry_msgs roscpp rospy std_msgs tf2 tf2_ros image_transport std_msgs
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## Further adjustements
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There are many opencv parameters that can be adjusted internally to reduce the effect of lightening conditions.
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See [opencv_tutorial](https://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html)
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In order to adjust camera options use **scripts/marker_filter.py**
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## License BSD
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If you want to use this package please contact: [me](https://simact.de/about_me).
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‎include/tf_mapping/helper.h‎

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‎include/tf_mapping/tf_mapping_node.h‎

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#ifndef TF_MAPPING_NODE_H__
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#define TF_MAPPING_NODE_H__
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#include <ros/ros.h>
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// other
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// #include <actionlib/server/simple_action_server.h>
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// #include <tf/transform_listener.h>
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// messages
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// #include <geometry_msgs/PoseStamped.h>
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// #include <geometry_msgs/PoseArray.h>
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// #include <sensor_msgs/CameraInfo.h>
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// #include <sensor_msgs/image_encodings.h>
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namespace tf_mapping
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{
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class TfMappingNode
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{
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public:
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//typedef actionlib::SimpleActionServer<ball_tracking_msgs::GetBallStatesAction> GetBallStatesActionServer;
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TfMappingNode(ros::NodeHandle& nh);
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virtual ~TfMappingNode();
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void update();
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protected:
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// ROS API callbacks
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// void imageCb(const sensor_msgs::ImageConstPtr& image);
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// void updateParamsCb(const std_msgs::Float64& msg);
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// helper
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//void transformPoint(const tf::StampedTransform& transform, const geometry_msgs::Point& point_in, geometry_msgs::Point& point_out) const;
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// class members
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//tf::TransformListener tf_listener_;
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//Detector::Ptr detector_;
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//sensor_msgs::CameraInfo camera_info_;
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// parameters (set in yaml file)
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std::string world_frame_;
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// subscriber
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// image_transport::Subscriber img_sub_;
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// ros::Subscriber init_pos_sub_; // remove position error!
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// ros::Subscriber update_params_sub_;
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// publisher
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// image_transport::Publisher binary_img_pub_;
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// ros::Publisher ball_states_pub_;
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// action server
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//boost::shared_ptr<GetBallStatesActionServer> get_ball_states_as_;
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};
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}
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#endif

‎launch/ball_tracking.launch‎

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<?xml version="1.0"?>
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<launch>
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<arg name="update_rate" default="60" />
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<arg name="show_debug_img" default="true" />
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<arg name="ball_color" default="" />
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<!-- load config into parameter server -->
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<rosparam file="$(find ball_tracking_rgb)/config/ball_tracking_config_$(arg ball_color).yaml" command="load" />
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<param name="ball_tracking_rgb/update_rate" type="int" value="$(arg update_rate)" />
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<param name="ball_tracking_rgb/img_output_path" type="string" value="$(find ball_tracking_rgb)/img/" />
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<param name="ball_tracking_rgb/show_debug_img" type="boolean" value="$(arg show_debug_img)" />
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<!-- start ball tracking node -->
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<node name="ball_tracking_rgb" pkg="ball_tracking_rgb" type="ball_tracking_node" output="screen" />
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<!-- start ball model vis node -->
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<!-- only works in indigo -->
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<node name="ball_tracking_rgb_vis" pkg="ball_tracking_rgb" type="ball_model_vis_node" output="screen" />
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</launch>

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