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Updated apriltags2_ros to new apriltag_ros package

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matlabbe
2019-06-20 15:24:09 -04:00
parent 48bcda84ab
commit 2ab15ec3b9
4 changed files with 20 additions and 20 deletions
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CMakeLists.txt
+8 -8
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@@ -25,7 +25,7 @@ find_package(catkin REQUIRED COMPONENTS
# Optional components # Optional components
find_package(costmap_2d) find_package(costmap_2d)
find_package(octomap_msgs) find_package(octomap_msgs)
find_package(apriltags2_ros) find_package(apriltag_ros)
find_package(rviz) find_package(rviz)
find_package(find_object_2d) find_package(find_object_2d)
@@ -247,18 +247,18 @@ SET(Libraries
ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS") ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
ENDIF(octomap_msgs_FOUND) ENDIF(octomap_msgs_FOUND)
# If apriltags2_ros is found, add definition # If apriltag_ros is found, add definition
IF(apriltags2_ros_FOUND) IF(apriltag_ros_FOUND)
MESSAGE(STATUS "WITH apriltags2_ros") MESSAGE(STATUS "WITH apriltag_ros")
include_directories( include_directories(
${apriltags2_ros_INCLUDE_DIRS} ${apriltag_ros_INCLUDE_DIRS}
) )
SET(Libraries SET(Libraries
${apriltags2_ros_LIBRARIES} ${apriltag_ros_LIBRARIES}
${Libraries} ${Libraries}
) )
ADD_DEFINITIONS("-DWITH_APRILTAGS2_ROS") ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
ENDIF(apriltags2_ros_FOUND) ENDIF(apriltag_ros_FOUND)
# If rviz is found, add plugins # If rviz is found, add plugins
IF(rviz_FOUND) IF(rviz_FOUND)
include/rtabmap_ros/CoreWrapper.h
+4 -4
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@@ -64,8 +64,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <octomap_msgs/GetOctomap.h> #include <octomap_msgs/GetOctomap.h>
#endif #endif
#ifdef WITH_APRILTAGS2_ROS #ifdef WITH_APRILTAG_ROS
#include <apriltags2_ros/AprilTagDetectionArray.h> #include <apriltag_ros/AprilTagDetectionArray.h>
#endif #endif
#include <actionlib/client/simple_action_client.h> #include <actionlib/client/simple_action_client.h>
@@ -139,8 +139,8 @@ private:
void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg); void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg); void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg); void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg);
#ifdef WITH_APRILTAGS2_ROS #ifdef WITH_APRILTAG_ROS
void tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetectionArray & tagDetections); void tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections);
#endif #endif
void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections); void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
launch/tests/test_apriltags2.launch → launch/tests/test_apriltag_ros.launch
+5 -5
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@@ -1,11 +1,11 @@
<launch> <launch>
<!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) --> <!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) -->
<!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed --> <!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed -->
<!-- The TF published by apriltags_ros should match the point cloud created by the camera --> <!-- The TF published by apriltag_ros should match the point cloud created by the camera -->
<!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) --> <!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->
<!-- $ roslaunch realsense2_camera rs_camera.launch align_depth:=true --> <!-- $ roslaunch realsense2_camera rs_camera.launch align_depth:=true -->
<!-- $ roslaunch rtabmap_ros test_apriltags2.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info --> <!-- $ roslaunch rtabmap_ros test_apriltag_ros.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
<!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" tag_angular_variance:=9999 --> <!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" tag_angular_variance:=9999 -->
<arg name="camera_frame_id" default="camera_color_optical_frame"/> <arg name="camera_frame_id" default="camera_color_optical_frame"/>
@@ -13,10 +13,10 @@
<arg name="camera_info_topic" default="/camera/rgb/camera_info" /> <arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<!-- Set parameters --> <!-- Set parameters -->
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltags2_ros_continuous_node" /> <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltag_ros_continuous_node" />
<rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltags2_ros_continuous_node" /> <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltag_ros_continuous_node" />
<node pkg="apriltags2_ros" type="apriltags2_ros_continuous_node" name="apriltags2_ros_continuous_node" clear_params="true" output="screen"> <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen">
<remap from="image_rect" to="$(arg rgb_topic)" /> <remap from="image_rect" to="$(arg rgb_topic)" />
<remap from="camera_info" to="$(arg camera_info_topic)" /> <remap from="camera_info" to="$(arg camera_info_topic)" />
src/CoreWrapper.cpp
+3 -3
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@@ -650,7 +650,7 @@ void CoreWrapper::onInit()
userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this); userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this);
globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this); globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this);
gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this); gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this);
#ifdef WITH_APRILTAGS2_ROS #ifdef WITH_APRILTAG_ROS
tagDetectionsSub_ = nh.subscribe("tag_detections", 1, &CoreWrapper::tagDetectionsAsyncCallback, this); tagDetectionsSub_ = nh.subscribe("tag_detections", 1, &CoreWrapper::tagDetectionsAsyncCallback, this);
#endif #endif
imuSub_ = nh.subscribe("imu", 100, &CoreWrapper::imuAsyncCallback, this); imuSub_ = nh.subscribe("imu", 100, &CoreWrapper::imuAsyncCallback, this);
@@ -1999,8 +1999,8 @@ void CoreWrapper::gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gps
} }
} }
#ifdef WITH_APRILTAGS2_ROS #ifdef WITH_APRILTAG_ROS
void CoreWrapper::tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetectionArray & tagDetections) void CoreWrapper::tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections)
{ {
if(!paused_) if(!paused_)
{ {