aruco_service
Package for generation of table positions using arUco markers.
This package is maintained by:
Prerequisites
This package depends on the following ROS packages:
- catkin (buildtool)
- aruco_msgs (build)
- geometry_msgs (build)
- roscpp (build)
- rospy (build)
- std_msgs (build)
- message_generation (build)
- aruco_msgs (exec)
- geometry_msgs (exec)
- roscpp (exec)
- rospy (exec)
- std_msgs (exec)
- message_runtime (exec)
Usage
This package contains 3 services:
- Service generating table cuboids (GenerateTableCuboid.py): This service requires an arUco marker placed on the edge of the table, counter, or waiting area.
- Service publishing points of the table to a topic (publish_points_of_table.py): This service is used for visualising the points set by the table cuboid service.
- Service storing the robot positions at the table (save_navigation_points.py): This service stores the current position of the robot into the location namespace of the coffee shop representation.
To run the table cuboid service:
- First, run the arUco marker recognition service with the custom launch file:
```bash
roslaunch aruco_ros singleTiago.launch
```
- Then, run the service node:
```bash
rosrun aruco_service GenerateTableCuboid.py
```
- Finally, you can call the service using the following command:
```bash
rosservice call /generate_table_cuboid table: "N"
```
where you replace N with -2 for the waiting area, -1 for the counter, and 1-Inf for tables.
- You can visualize the points using RViz with the configuration set up to show all relevant points:
```bash
rosrun rviz rviz -d $(rospack find aruco_service)/service_debug.rviz
```
To run the points publisher: You need to ensure that the rosparam server on the robot contains the table parameters. If so, you can run:
```bash
rosrun aruco_service publish_points_of_table.py
```
You can then call the service with the following command:
```bash
rosservice call /publish_table_points table: "N"
```
Where you replace N with -2 for the waiting area, -1 for the counter, and 1-Inf for tables.
To run the navigation points storing service: You need to ensure that the rosparam server on the robot contains the table parameters. If so, you can run:
```bash
rosrun aruco_service save_navigation_points.py
```
You can then call the service with the following command:
```bash
rosservice call /save_navigation_points table: "N"
```
Where you replace N with -2 for the waiting area, -1 for the counter, and 1-Inf for tables.
Example
Running the service
TODOTODOTODO
Technical Overview
TODO
ROS Definitions
Launch Files
singleTiago
No description provided.
| Argument | Default | Description |
|---|---|---|
| markerId | 500 | |
| markerSize | 0.1 | |
| eye | left | |
| marker_frame | aruco_marker_frame | |
| ref_frame | /map | |
| corner_refinement | LINES |
coffee_shop_prep
No description provided.
Messages
This package has no messages.
Services
SaveNavigationPoint
Request
| Field | Type | Description |
|---|---|---|
| table | int8 |
Response
| Field | Type | Description |
|---|---|---|
| success | bool |
PublishTablePoints
Request
| Field | Type | Description |
|---|---|---|
| table | int8 |
Response
| Field | Type | Description |
|---|---|---|
| success | bool |
GenerateTableCuboid
Request
| Field | Type | Description |
|---|---|---|
| table | int8 | |
| long_side | float64 | |
| short_side | float64 | |
| padding | float64 | |
| is_rect | bool | |
| radius | float64 |
Response
| Field | Type | Description |
|---|---|---|
| success | bool |
Actions
This package has no actions.