mirror of
https://github.com/Jieshoudaxue/ros_senior.git
synced 2026-08-29 08:34:43 +08:00
[fix] up ar_track_alvar
This commit is contained in:
jieshoudaxue
@@ -1,95 +0,0 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package ar_track_alvar
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.7.1 (2017-06-14)
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------------------
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* [maintenance] Remove unnecessary metapkg.
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* [fix][build][CMakeLists] Prevent rosdep errors that only occur when running tests with catkin_make_isolated. See http://answers.ros.org/question/262558/buildfarm-missing-package-dependencies-pkg_namepackagexml/
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* [test] Relax tf test criteria `#39 <https://github.com/ros-perception/ar_track_alvar/pull/39>`_
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* Contributors: Isaac I.Y. Saito
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0.7.0 (2017-04-21)
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------------------
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* Consolidate ar_track_alvar* packages into a single repo (`#120 <https://github.com/sniekum/ar_track_alvar/issues/120>`_)
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* Contributors: Isaac I.Y. Saito
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0.6.3 (2017-02-09)
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------------------
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* [fix] Marker no longer recognized, for IndividualMarkersNoKinect `#93 <https://github.com/sniekum/ar_track_alvar/issues/93>`_
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* [capability] Add param to derive camera frame from pointcloud message frame (`#111 <https://github.com/sniekum/ar_track_alvar/issues/111>`_)
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* [capability ] individual marker nodes: replace command line args with ros parameters (`#99 <https://github.com/sniekum/ar_track_alvar/issues/99>`_)
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* [maintenance] Add system test using .bag. (`#106 <https://github.com/sniekum/ar_track_alvar/issues/106>`_)
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* Contributors: Hans-Joachim Krauch, Isaac I.Y. Saito
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0.6.2 (2017-02-07)
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------------------
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* [fix] Marker no longer recognized `#93 <https://github.com/sniekum/ar_track_alvar/issues/93>`_
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* [fix] add install rule for bundles folder; fixes `#88 <https://github.com/sniekum/ar_track_alvar/issues/88>`_
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* [fix] Shutdown camera info sub after called
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* [enhancement] add mark_resolution and mark_marge as input option
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* [enhancement] individualMarkers: replace cout with ROS_DEBUG_STREAM (`#101 <https://github.com/sniekum/ar_track_alvar/issues/101>`_)
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* Contributors: Alex Reimann, Hans-Joachim Krauch, Isaac I.Y. Saito, TORK Developer 534
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0.6.1 (2016-06-08)
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------------------
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* New parameter -array to create an array of markers `#85 <https://github.com/sniekum/ar_track_alvar/issues/85>`_ from 130s/kinetic/add_60
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* Fix build for Kinetic by adding missing dependencies on gencfg `#84 <https://github.com/sniekum/ar_track_alvar/issues/84>`_ from 130s/kinetic/fix_buildfarm
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* [sys] Add a maintainer to receive notification from ros buildfarm.
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* Contributors: Jackie Kay, Mehdi, Isaac I.Y. Saito
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0.6.0 (2016-06-01)
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------------------
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* Made compatible to ROS-Kinetic-Kame `#80 <https://github.com/sniekum/ar_track_alvar/issues/80>`_
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* [Travis CI] Add ROS Kinetic support. Add Prerelease Test on Travis `#79 <https://github.com/sniekum/ar_track_alvar/issues/79>`_
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* Contributors: Sepehr MohaimenianPour, Isaac I.Y. Saito
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0.5.3 (2016-02-02)
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------------------
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* [feat] New bool-Topic to enable/disable the marker detection (`#70 <https://github.com/sniekum/ar_track_alvar/issues/70>`_)
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* [feat] added public way to set intrinsicCalibration for Camera class
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* [fix] not publishing marker that are facing in the same direction as the camera.
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* [sys] removed duplicate code for image subscription
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* Contributors: Nikolas Engelhard, Scott Niekum
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0.5.2 (2015-11-27)
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------------------
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* [fix] Move tf include from header to cpp files, fixes `#66 <https://github.com/sniekum/ar_track_alvar/issues/66>`_
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The header currently prevents us from re-using the library as a given library (because it pulls in tf2 which causes trouble). The include has been moved to the individual nodes which actually use a TransformBroadcaster.
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* [fix] proper virtual destruction `#63 <https://github.com/sniekum/ar_track_alvar/issues/63>`_.
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* improve license information in package.xml (`#58 <https://github.com/sniekum/ar_track_alvar/issues/58>`_)
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* Added time stamp to header (`#57 <https://github.com/sniekum/ar_track_alvar/issues/57>`_)
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Previously, each pose had a timestamp, but the whole message did not. By including the timestamp for the whole message, it is now possible to use the results of the ar_pose_marker topic with other messages using message_filters::Synchronizer.
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* Contributors: Alex Henning, Bener Suay, Lukas Bulwahn, Scott Niekum, Tim Niemueller, Isaac I. Y. Saito
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0.5.1 (2015-04-14)
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------------------
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* Remove meta pkg; ar_track_alvar is 'unary stack' so no need for the meta pkg.
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* Contributors: Scott Niekum, Isaac IY Saito
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0.5.0 (2014-06-25)
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------------------
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* move README to root directory
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* Merge remote-tracking branch 'origin/hydro-devel' into indigo-devel
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* ar_track_alvar package uses ar_track_alvar_msgs
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* restructuring packages. Separate out the message package.
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* Contributors: Jihoon Lee
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0.4.1 (2013-11-28)
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------------------
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0.3.3 (2013-02-22)
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------------------
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0.3.2 (2013-02-18)
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------------------
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0.3.1 (2013-02-14)
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------------------
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0.3.0 (2013-01-17)
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------------------
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0.2.0 (2012-08-08)
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------------------
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Before Width: | Height: | Size: 9.1 KiB After Width: | Height: | Size: 9.1 KiB |
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Before Width: | Height: | Size: 9.2 KiB After Width: | Height: | Size: 9.2 KiB |
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Before Width: | Height: | Size: 3.7 KiB After Width: | Height: | Size: 3.7 KiB |
@@ -0,0 +1,172 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Camera1
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Splitter Ratio: 0.5
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Tree Height: 355
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Name: Time
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SyncMode: 0
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SyncSource: Camera
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/Camera
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Enabled: true
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Image Rendering: background and overlay
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Image Topic: /usb_cam/image_raw
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Name: Camera
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Overlay Alpha: 0.5
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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Visibility:
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Grid: true
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Marker: true
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TF: true
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Value: true
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Zoom Factor: 1
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: visualization_marker
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Name: Marker
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Namespaces:
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basic_shapes: true
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Queue Size: 100
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Value: true
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- Class: rviz/TF
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Enabled: true
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Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: true
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ar_marker_13:
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Value: true
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usb_cam:
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Value: true
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world:
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Value: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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world:
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usb_cam:
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ar_marker_13:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 10
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.785398006439209
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Target Frame: <Fixed Frame>
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Yaw: 0.7803980112075806
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Saved: ~
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Window Geometry:
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Camera:
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collapsed: false
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Displays:
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collapsed: false
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Height: 846
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1200
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X: 291
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Y: 147
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@@ -1,14 +0,0 @@
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<launch>
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<arg name="marker_size" default="4.4" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.0" />
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<arg name="cam_image_topic" default="/kinect_head/depth_registered/points" />
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<arg name="cam_info_topic" default="/kinect_head/rgb/camera_info" />
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<arg name="output_frame" default="/torso_lift_link" />
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<arg name="med_filt_size" default="10" />
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<arg name="bundle_files" default="$(find ar_track_alvar)/bundles/truthTableLeg.xml $(find ar_track_alvar)/bundles/table_8_9_10.xml" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="findMarkerBundles" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame) $(arg med_filt_size) $(arg bundle_files)" />
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</launch>
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@@ -1,22 +0,0 @@
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<launch>
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<arg name="marker_size" default="4.4" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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<arg name="cam_image_topic" default="/wide_stereo/left/image_color" />
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<arg name="cam_info_topic" default="/wide_stereo/left/camera_info" />
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<arg name="output_frame" default="/torso_lift_link" />
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<arg name="bundle_files" default="$(find ar_track_alvar)/bundles/truthTableLeg.xml $(find ar_track_alvar)/bundles/table_8_9_10.xml" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="findMarkerBundlesNoKinect" respawn="false" output="screen">
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<param name="marker_size" type="double" value="$(arg marker_size)" />
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<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
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<param name="max_track_error" type="double" value="$(arg max_track_error)" />
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<param name="output_frame" type="string" value="$(arg output_frame)" />
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<param name="bundle_files" type="string" value="$(arg bundle_files)" />
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<remap from="camera_image" to="$(arg cam_image_topic)" />
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<remap from="camera_info" to="$(arg cam_info_topic)" />
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</node>
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</launch>
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@@ -1,20 +0,0 @@
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<launch>
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<arg name="marker_size" default="4.4" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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<arg name="cam_image_topic" default="/kinect_head/depth_registered/points" />
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<arg name="cam_info_topic" default="/kinect_head/rgb/camera_info" />
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<arg name="output_frame" default="/torso_lift_link" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkers" respawn="false" output="screen">
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<param name="marker_size" type="double" value="$(arg marker_size)" />
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<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
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<param name="max_track_error" type="double" value="$(arg max_track_error)" />
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<param name="output_frame" type="string" value="$(arg output_frame)" />
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<remap from="camera_image" to="$(arg cam_image_topic)" />
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<remap from="camera_info" to="$(arg cam_info_topic)" />
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</node>
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</launch>
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@@ -1,18 +0,0 @@
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<launch>
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<arg name="marker_size" default="4.4" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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<arg name="cam_image_topic" default="/wide_stereo/left/image_color" />
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<arg name="cam_info_topic" default="/wide_stereo/left/camera_info" />
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<arg name="output_frame" default="/torso_lift_link" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
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<param name="marker_size" type="double" value="$(arg marker_size)" />
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<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
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<param name="max_track_error" type="double" value="$(arg max_track_error)" />
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<param name="output_frame" type="string" value="$(arg output_frame)" />
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<remap from="camera_image" to="$(arg cam_image_topic)" />
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<remap from="camera_info" to="$(arg cam_info_topic)" />
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</node>
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</launch>
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@@ -1,11 +0,0 @@
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<launch>
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<arg name="nof_markers" default="8" />
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<arg name="marker_size" default="4.4" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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<arg name="cam_image_topic" default="/wide_stereo/left/image_color" />
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<arg name="cam_info_topic" default="/wide_stereo/left/camera_info" />
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<arg name="output_frame" default="/torso_lift_link" />
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<node name="ar_track_alvar" pkg="ar_track_alvar" type="trainMarkerBundle" respawn="false" output="screen" args="$(arg nof_markers) $(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />
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</launch>
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@@ -9,6 +9,9 @@
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<param name="io_method" value="mmap"/>
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</node>
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<node pkg="tf" type="static_transform_publisher" name="world_to_cam"
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args="0 0 0.5 0 1.57 0 world usb_cam 10" />
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<arg name="marker_size" default="5" />
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<arg name="max_new_marker_error" default="0.08" />
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<arg name="max_track_error" default="0.2" />
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@@ -26,4 +29,7 @@
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<remap from="camera_info" to="$(arg cam_info_topic)" />
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</node>
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<!-- rviz view /-->
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ar_track_alvar)/doc/rviz/qr_code_read.rviz"/>
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</launch>
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Reference in New Issue
Block a user