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20 Comments

  1. Aankita Aankita

    Hi Saurav,

    I would like to know, after launching the single board detector, which topic should I subscribe to get the orientation and the ID of the marker.

    • sauravagarwal sauravagarwal

      Hi Aankita,

      As far as I know, you should subscribe to: /aruco_marker_publisher/markers to detect individual landmarks.

      Exammple Code from my git repo buy brand Seroquel

      arucoSubscriber_  = nHandle_.subscribe("/aruco_marker_publisher/markers", 1, &ROSSpaceInformation::arucoListenerCallback, this);

      It may be possible that the single board detector publishes to a different topic, in that case run the detector and then run,

      $ rostopic list

      to get the list of active topics. You should see something related to aruco, once you get the name of the topic you can do,

      $ rostopic info <topic_name>

      to get information about the topic.

  2. Patrik Patrik

    Hi Saurav!

    I would like to know what topic, if any, I should echo to print out the pose of the marker? I tried to figure out which it was by rostopic list and rostopic info but was unable to do so.

    Cheers

    • sauravagarwal sauravagarwal

      I used /aruco_marker_publisher/markers
      In case you don’t see any Aruco topic in your rostopic list then probably the node isn’t running correctly

  3. Daniele Daniele

    Hi Saurav,
    If I wanted to use 3 markers, how should I edit the double.launch file?
    I need to have 3 topics for marker positions: pose, pose2 and pose 3

    How should i do it?
    Thanks so much

    • sauravagarwal sauravagarwal

      You should not need different topics for each marker. Aruco publishes a markerlist topic. Check that out. The markerlist is a vector of markers with their ID, pose etc.

  4. Jack Writer Jack Writer

    Hi; I am trying out your method but it always shows this error message.

    [aruco_single-1] process has died [pid 9092, exit code -11, cmd /home/user/catkin_ws/devel/lib/aruco_ros/single /camera_info:=/usb_cam/camera_info /image:=/usb_cam/image_raw __name:=aruco_single __log:=/home/user/.ros/log/92a97332-36ea-11e7-9d4b-b8ca3aa3d65b/aruco_single-1.log].
    log file: /home/user/.ros/log/92a97332-36ea-11e7-9d4b-b8ca3aa3d65b/aruco_single-1*.log

    Do you have any clue about it?

    Kind regards

    • sauravagarwal sauravagarwal

      You will have to open the log file at the path shown in the error message and search that for where the error occurred. Hard to asses error source without the log file.

      • Blake Blake

        Hi, I’m encountering a similar error to that above. It seems to be some issue with establishing a connection, but I’m having trouble solving the problem:

        [rosmaster.threadpool][ERROR] 2017-06-27 10:16:17,925: Traceback (most recent call last):
        File “/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/threadpool.py”, line 218, in run
        result = cmd(*args)
        File “/opt/ros/indigo/lib/python2.7/dist-packages/rosmaster/master_api.py”, line 208, in publisher_update_task
        xmlrpcapi(api).publisherUpdate(‘/master’, topic, pub_uris)
        File “/usr/lib/python2.7/xmlrpclib.py”, line 1233, in __call__
        return self.__send(self.__name, args)
        File “/usr/lib/python2.7/xmlrpclib.py”, line 1587, in __request
        verbose=self.__verbose
        File “/usr/lib/python2.7/xmlrpclib.py”, line 1273, in request
        return self.single_request(host, handler, request_body, verbose)
        File “/usr/lib/python2.7/xmlrpclib.py”, line 1301, in single_request
        self.send_content(h, request_body)
        File “/usr/lib/python2.7/xmlrpclib.py”, line 1448, in send_content
        connection.endheaders(request_body)
        File “/usr/lib/python2.7/httplib.py”, line 1013, in endheaders
        self._send_output(message_body)
        File “/usr/lib/python2.7/httplib.py”, line 864, in _send_output
        self.send(msg)
        File “/usr/lib/python2.7/httplib.py”, line 826, in send
        self.connect()
        File “/usr/lib/python2.7/httplib.py”, line 807, in connect
        self.timeout, self.source_address)
        File “/usr/lib/python2.7/socket.py”, line 571, in create_connection
        raise err
        error: [Errno 111] Connection refused

        • sauravagarwal sauravagarwal

          Have you set ROS_MASTER_URI or ROS_IP or ROS_HOSTNAME? You will need these to be set in order for a distributed setup to work.

          • Blake Blake

            Here is my working environment, am I missing something?

            ROS_ROOT=/opt/ros/indigo/share/ros
            ROS_PACKAGE_PATH=/home/terra/blake_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
            ROS_MASTER_URI=http://localhost:11311
            ROSLISP_PACKAGE_DIRECTORIES=/home/terra/blake_ws/devel/share/common-lisp
            ROS_DISTRO=indigo
            ROS_ETC_DIR=/opt/ros/indigo/etc/ros

          • sauravagarwal sauravagarwal

            set your ROS_IP to your IP on the network.

          • Blake Blake

            Setting ROS_IP to the local IP address results in the same error as before:

            ROS_ROOT=/opt/ros/indigo/share/ros
            ROS_PACKAGE_PATH=/home/terra/blake_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
            ROS_MASTER_URI=http://localhost:11311
            ROSLISP_PACKAGE_DIRECTORIES=/home/terra/blake_ws/devel/share/common-lisp
            ROS_DISTRO=indigo
            ROS_IP=127.0.0.1
            ROS_ETC_DIR=/opt/ros/indigo/etc/ros

          • Blake Blake

            I was never able to determine the problem but a fresh ROS install fixed it. Thanks.

          • sauravagarwal sauravagarwal

            Glad its fixed, good luck with your work and thanks for sharing the fix 🙂

  5. liyi liyi

    Hi Saurav!
    i use the usb_cam,and rostopic echo /aruco_single/pose,but have a error:
    pose:
    position:
    x: nan
    y: nan
    z: nan
    orientation:
    x: 0.0
    y: 0.707106781187
    z: 0.707106781187
    w: 0.0
    while i use the xtion camera,it is not problem.
    How should i do it?
    Thanks so much

  6. nana nana

    Hello,
    I have this error.. any help please..

    … logging to /home/ubuntu/.ros/log/6ff3382a-180f-11e9-b85d-0800275e924a/roslaunch-ubuntu-VirtualBox-13675.log
    Checking log directory for disk usage. This may take awhile.
    Press Ctrl-C to interrupt
    Done checking log file disk usage. Usage is <1GB.

    started roslaunch server order generic Seroquel

    SUMMARY
    ========

    PARAMETERS
    * /aruco_single/camera_frame: stereo_gazebo_lef…
    * /aruco_single/corner_refinement: LINES
    * /aruco_single/image_is_rectified: True
    * /aruco_single/marker_frame: aruco_marker_frame
    * /aruco_single/marker_id: 207
    * /aruco_single/marker_size: 0.062
    * /aruco_single/reference_frame:
    * /rosdistro: kinetic
    * /rosversion: 1.12.14

    NODES
    /
    aruco_single (aruco_ros/single)

    ROS_MASTER_URI=http://localhost:11311

    ERROR: cannot launch node of type [aruco_ros/single]: aruco_ros
    ROS path [0]=/opt/ros/kinetic/share/ros
    ROS path [1]=/opt/ros/kinetic/share
    No processes to monitor
    shutting down processing monitor…
    … shutting down processing monitor complete

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