Three Years After Carl, Dave Finally Sees ArUco Marker On His Dock

GoPiGo
,
1

Three years after Carl first saw the ArUco maker on his dock, ROSbot Dave finally saw the marker behind his dock:

I got it working with a custom launch file - bringing the Luxonis ROS2 Oak-D-W camera driver talking to the ROS 2 ArUco_OpenCV package:

slowrunner/GoPi5Goblob/main/ros2ws/aruco_camera.launch.py

header:
  stamp:
    sec: 1734286796
    nanosec: 425563519
  frame_id: oak_rgb_camera_optical_frame
markers:
- marker_id: 5
  pose:
    position:
      x: 0.05173255350509175
      y: -0.029103121047933316
      z: 0.5412244950190088
    orientation:
      x: 0.9975646146976297
      y: 0.026159965251779892
      z: -0.054218249093173264
      w: 0.035226086732218505
boards: []

Screenshot 2024-12-15 at 1.32.39 PM
Screenshot 2024-12-15 at 1.32.39 PM1080Ă—812 79.3 KB

Dave Looking At ArUco Dock Marker
Dave Looking At ArUco Dock Marker1920Ă—1440 156 KB

THIS IS HUGE for Dave

1 Like
2

Absolutely!

See?  There’s life left in them old bones yet!

P.S.
Glad to see Dave’s up from his earlier funk. :wink:

1 Like
3

We will see. The only part the GoPiGo3 had in this was to power the camera (battery direct to Pololu buck) and provide 8W to the Raspberry Pi 5 processor.

If the GoPiGo3 can be made to navigate with centimeter and 1-2 degree heading precision under ROS control, Dave will be able to belly up to the juice bar and live another 5 hours at a time. That test phase (and significant development work) is a few months off though.

Right now Dave and I are really high on demonstration of this new capability.

(That Dave is where Carl was three years ago … not sure why I am so impressed.)

1 Like
4

Sounds like real progress. I saw your other post about AprilTags. Which one do you think you’ll settle on?
/K

2 Likes
5

ArUco vs AprilTag: That needs to be resolved:

  • ArUco seems easier for me to use. The ROS community seems to prefer AprilTags

  • The ArUco ROS code returned a pose in the detection topic, while the AprilTag code returned a position in the image frame in the detection topic and supposedly published a /tf for the marker.

  • I’m not sure how to echo only a specific transform, so I cannot compare the two markers for pose accuracy

  • FIRST robotics uses standard 36h11 AprilTags reportedly because they provide more stable pose estimations

  • The Nav2 “Docking Feature” video shows a robot using AprilTags, but when I asked if I could use ArUco markers Steve Macenski (the god of Nav2), he said Nav2 is not dependant on any marker type.

  • I also have to figure out how to use the mfg provided camera calibration or generate my own. I remember doing that for Carl’s PiCam, way back when.

  • (The apriltag ros package is from Christian Rauch’s GitHub. @christian Rauch also published the first ROS for GoPiGo3 package ros-gopigo in 2016.)

2 Likes