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Added fiducial_msgs support (aruco_detect), just connect to /fiducial_transforms input of rtabmap node.

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matlabbe
2021-12-02 11:40:13 -05:00
parent 8a75963739
commit ec9b77d055
4 changed files with 49 additions and 0 deletions
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launch/rtabmap.launch
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@@ -142,6 +142,7 @@
<arg name="tag_topic" default="/tag_detections" /> <!-- apriltags async subscription -->
<arg name="tag_linear_variance" default="0.0001" />
<arg name="tag_angular_variance" default="9999" /> <!-- >=9999 means ignore rotation in optimization, when rotation estimation of the tag is not reliable -->
<arg name="fiducial_topic" default="/fiducial_transforms" /> <!-- aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covriance -->
<!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
<arg if="$(arg compressed)" name="rgb_topic_relay" default="$(arg rgb_topic)_relay"/>
@@ -382,6 +383,7 @@
<remap from="user_data_async" to="$(arg user_data_async_topic)"/>
<remap from="gps/fix" to="$(arg gps_topic)"/>
<remap from="tag_detections" to="$(arg tag_topic)"/>
<remap from="fiducial_transforms" to="$(arg fiducial_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>