@chriskeraly-rios Once I have noetic running here I can give it a shot. ar_track_alvar uses the long dead C API for OpenCV. 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. AR_ID065535 ros run ar_track_alvar createMarker 0 3. std::vector<PointDouble> alvar::Marker::ros_marker_points_img: Marker points in image coordinates. Sign in Now the node works well (albeit it seems slower than the melodic version). This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. 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 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. Are you sure that the tags are printed correctly and they are placed on a perfectly planar surface? humble galactic foxy rolling noetic melodic. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. I tried your code on Ubuntu 20.04. I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. I want to use ZED camera for tracking AR tags. 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). There is quite a lot cv code in there that needs to be translated. 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. Would you mind releasing ar_track_alvar to ROS Noetic? This is definitely helpful, but I was wondering if it would be possible to get the pose estimates of the other tags as well. @wmmc88 I'm going for it next week as we finally moved to noetic. Already on GitHub? Turns out porting is not as easy as first thought. ar_track_alvar Author(s): Scott Niekum autogenerated on Mon Jun 10 2019 12:47:04 . Have a question about this project? Powered by Discourse, best viewed with JavaScript enabled. @sloretz do you know who maintains ros-perception? I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. . The Noetic Migration Guide or the guide about transitioning ROS packages to Python 3 may be useful. Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. 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. ROS Resources: . are you also experiencing the "nan"-issues mentioned in machinekoder#1 (comment)? 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. Check out the ROS 2 Documentation. Known supported distros are highlighted in the buttons above. Learn more. Track orientation based only on features in the image plane. Thanks for looking into this. any chance this is going to get merged in and released? Thank you @pmusau17 I successfully built in ROS noetic as well. Done a community-maintained index of robotics software Changelog for package ar_track_alvar 0.7.1 (2017-06-14) [maintenance] Remove unnecessary metapkg. Saito <130s AT 2000.jukuin.keio.ac DOT jp> Identifying and tracking the pose of individual AR tags, optionally integrating kinect depth data (when a kinect is available) for better pose estimates. Nope. I kind of gave up and switched back to ar_pose. @jspricke The API changes between OpenCV3 and 4 seem trivial. 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. 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: ROS: noetic For example, if I had a bundle called cherios, then I would like name on the tf tree to by /cherios. . In my case I added the following to force 4.2.0 usage for libopencv_core. 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). lin404 ( Jan 21 '20 ) Never mind, I have found this python resource to detect the AR tags. I am using ZED camera. GPU: NVIDIA GTX1050Ti, Can you help me with this issue? The marker tf names that I can see after running view_frames are ar_maker_0, ar_marker_1 etc. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. 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. ar_track_alvar. I have a couple of questions about the package. to use Codespaces. Repos. If nothing happens, download GitHub Desktop and try again. looking at the Network of this repo ros-perception/ar_track_alvar, it looks like development of this repos has diverged onto forks 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. Here are the classes, structs, unions and interfaces with brief descriptions: OS: ubuntu 20.04 So conversion to the C++ is needed along the CV3CV4 port which is small. @ajithcodesit I'm at it. could you point us to proper commit/branch which contains your fix? This package is a ROS wrapper for Alvar, an open source AR tag tracking library. 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 privacy statement. It looks like all of its dependencies have been released, and recursively 14 repos need it. 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. I will start working on this next week. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Ive built the package and it is working now. Reading package lists. 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. A tag already exists with the provided branch name. Is this possible? ar_track_alvar 1. ar_track_alvar sudo apt-get install ros -melodic-ar-track-alvar 2. Known supported distros are highlighted in the buttons above. Work fast with our official CLI. There should be a better way to do it, at least this way got the job done, hope it helps on your environment, regards. 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. Here you go. I've used ar_pose before on Hydro, but am facing issues setting it up for Indigo. But the tag detections are not accurate and its too noisy. Switched to this branch. I see @haraisao also has a PR for a noetic devel branch. (from this link). However, I had a following error. If nothing happens, download Xcode and try again. If you build it from source it should work on Indigo without a problem. Uninstalled and reinstalled noetic-desktop-full but got the same problem. Turns out porting is not as easy as first thought. Older. Also, ZED SDK has been installed correctly. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. So conversion to the C++ is needed along the CV3CV4 port which is small. Have you added the ar_track_alvar_msgs package available here? There is quite some potential of reworking parts of the code aside from the port. Are you working on Indigo? I am newbie in ROS and first time using ar_track_alvar. 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. We're definitely not close to something that works. Here is the fix (roughly line 112). Thank you. Sorry for beginner question, @machinekoder I tried your WIP but I am not able to compile it with catkin_make. . The ROS Wiki is for ROS 1. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. 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. No version for distro humble. github-sniekum-ar_track_alvar github-sniekum-ar_track_alvar API Docs Browse Code Overview; 0 Assets; 3 Dependencies; 0 Tutorials . You signed in with another tab or window. [closed], Problem retrieving video from rovio camera, Time difference in showed and actual webcam image. Hi guys, I'm looking to use the confidence value as well, did you manage to solve this issue? 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 . Saito . Are you using ROS 2 (Dashing/Foxy/Rolling)? 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. lin404 ( Jan 22 '20 ) 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/. @130s you have the last commit to this repo If not, am doing something wrong for the confidence to printed always zero? Maintainer status: maintained Maintainer: Scott Niekum <sniekum AT cs.umass DOT edu>, Isaac I.Y. Project Structure ROS Melodic Installation Creating and Configuring a ROS Environment Installing AR Tag Tracking library Running Launch Files ROS Melodic Installation const char* alvar::ALVAR_VERSION_TAG = "" static: Tag version string. So the core effort of porting ar_track_alvar lies in converting the OpenCV C API calls with their C++ API equivalents. Creative Commons Attribution Share Alike 3.0. No. ar_track_alvar_msgs. Have you been able to make some progress? ar_track_alvar uses the long dead C API for OpenCV. How to use robot_localization with ar_track_alvar? . How to install @machinekoder 's ar_track_alvar? 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. I am using ubuntu 18.04, ROS melodic and a Realsense D435i camera for AR tag detection. to your account. is this repo still actively maintained? Ive built the package before and everything works well with it. The command after initializing catkin_init_workspace is as follows. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. However, is there any parameters (args) that I can set in the launch file for a confidence threshold? 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. My Labmate uses ROS melodic (ubuntu 18) and his detections are far more accurate than mine (same situation). @NHirose I got the same error on a Jetson Xavier NX/Jetpack 5.0.2. Another option, there is a ar marker lib for python, I might can scan AR tag manually in ros2. Easier said than done, I couldn't find nice porting guide, so this will require some manual lookup old API and replace procedure. Here is my WIP, I already have it working: https://github.com/machinekoder/ar_track_alvar/tree/noetic-devel. But maybe we could connect and try to solve this issue together. 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. 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. By clicking Sign up for GitHub, you agree to our terms of service and ar_track_alvar Author(s): Scott Niekum Fore some reason I got installed OpenCV 4.5.4 and 4.2.0. ROS Resources: Documentation | Support | Discussion . @chriskeraly-rios @machinekoder are either of you planning to make a noetic-devel PR? . Please Essentially the way the quaternions were retrieved didn't work properly. Definition at line 203 of file Alvar.h. I have tracked down the issue and fixed this locally for individual markers by changing a few lines of code in **nodes/InvididualMarkersNoKinect.cpp**. No version for distro noetic. @sniekum are you still involved? 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. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Do I need to configure anything separately in the ar_track_alvar package? @fmessmer , I did not know of the machinekoder/ar_track_alvar#noetic-devel when I started my attempt. Intermodalics@dcc8c40, @smits what is different between your version of Intermodalics/ar_track_alvar#noetic-devel and machinekoder/ar_track_alvar#noetic-devel. This package is a ROS wrapper for Alvar, an open source AR tag tracking library. How would I do this. ar_track_alvar::ARCloud alvar::Marker::ros_corners_3D: Definition at line 180 of file Marker.h. I'm not sure how much work it will need. Thanks in advance. But this can't be done if the confidence value is always zero. Moreover, there has been a deprecation of some Eigen types in noetic, which we have to keep in mind, but nothing significant either. Done Building dependency tree Reading state information. My approach is to do the checking in the code I write. CUDA: 11.0 I have a couple of questions about the package. [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'. Are you sure you want to create this branch? $ sudo apt-get install ros -melodic-ar-tr. @machinekoder Thank you for releasing your code. #94 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. So want to build the ros dependent packages with custom opencv. ROS Index. ar_track_alvar has 4 main functionalities: Generating AR tags of varying size, resolution, and data/ID encoding. Have you found an answer to (2)? Use Git or checkout with SVN using the web URL. sign in Issue : I have compiled opencv 4.1.0 with cuda support. There was a problem preparing your codespace, please try again. Please start posting anonymously - your entry will be published after you log in or create a new account. So I might consider taking a look at what machinekoder is doing. 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 ? How are you installing ar_pose? As I said, this is probably not the "proper" way to fix it, but it gets the job done for what I need. -s ros run ar_track . 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. Fusing ARTags poses with robot_localization, Installation path of groovy gscam according to wiki ? @machinekoder are you still working on this? I also see that Intermodalics has a noetic-devel branch, which sees recent contributions, e.g. Well occasionally send you account related emails. Any kind . Is it possible to customize these names so that they represent the box that is being tagged? Ive done so. You signed in with another tab or window. Thank you. The tag contains alpha, beta and release candidate versions. 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. Home.