Starter Project FAQ

[qhdwight]

Overall

Q: How do I fix my catkin build not working?
A: Make sure you have source'ed both the required files! This would be source /opt/ros/noetic/setup.bash and source ~/catkin_ws/devel/setup.bash. This tells your current terminal environment how to find ROS related items.

Perception

Q: How do I use cv::aruco::detectMarkers? How does it work?
A: Make sure you use image->image instead of just image. Parameters 1, 2, and 5 are inputs. Parameters 3 and 4 are outputs. Make sure to use the member variables that are already defined in perception.hpp! The corners and ids vectors will be filled by the function. They will have the same length, since corners[i] corresponds to ids[i], together they form information about the i'th tag. The idea is that we are taking this ugly format from OpenCV and turning it into a nice vector with our custom StarterProjectTag message.

Q: How do I test my perception code?
A: Information has been added here about how to test. You should really use the debugger!

Navigation

Localization