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AruCo Detection

AruCo Markers is similar to a QR Code which is used for various Computer Vision application.

Some applications include:

  • Camera Calibration
  • Pose Estimation
  • Navigation

Tools/Packages Required:

  1. OpenCV
  2. ROS
  3. C++

Running the Code:

After you have all the tools/packages installed, make sure you add the following to .bashrc file:

export TURTLEBOT3_MODEL="waffle_pi"

Clone this repository in your catkin workspace and copy the models in AruCoDetection/gazebo_models to ~/.gazebo/models.

To launch the AruCo World in Gazebo run:

roslaunch aruco_detection aruco_world.launch

To start the AruCo Marker detection node run:

rosrun aruco_detection aruco_node

To Tele-operate the turtlebot3:

rosrun aruco_detection tcbot_node

Turtlebot can be teleoperated using the arrow keys and stopped using the Space bar.

AruCo Marker