ROS client for Roboception's tag detection modules

This node provides ROS service calls and parameters for TagDetect node. For detail description of the TagDetect check rc_visard manual: https://doc.rc-visard.com/latest/en/tagdetect.html

Installation

On Debian/Ubuntu add the ROS sources and

sudo apt-get install ros-${ROS_DISTRO}-rc-tagdetect-client

From Source

This package relies on git submodules for the cpr library which need to be initialized before building from source.

git submodule update --init --recursive

Configuration

Parameters

• host: The IP address or hostname of the rc_visard that should be calibrated

Dynamic reconfigure parameters

• use_cached_images: Use most recently received image pair instead of waiting for a new pair
• forget_after_n_detections: Number of detection runs after which to forget about a previous tag during tag re-identification
• max_corner_distance: Maximum distance of corresponding tag corners in meters during tag re-identification
• quality: Quality of tag detection (H, M or L).
• detect_inverted_tags: Detect tags with black and white exchanged
• publish_visualization: Whether or not the tf and markers should be published

Services

The following services are offered by the node:

• detect: Trigger single detection
• start_continuous_detection: Starts continuous detection.
• stop_continuous_detection: Stops continuous detection.

Launching

Using command line parameters:

rosrun rc_tagdetect_client rc_april_node _host:=sensor_ip
rosrun rc_tagdetect_client rc_qr_node _host:=sensor_ip

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