01 准备工作

• 安装realsense-ros
• 安装aruco_ros

  cd ~/ur_ws/src
  git clone -b melodic-devel https://github.com/pal-robotics/aruco_ros.git
  cd ..
  catkin_make
  

02 修改launch文件

• aruco_ros包中有三个launch文件，分别是single、double、publish，原本的用例是通过USB摄像头工作的，对于realsense或者其他相机，就需要修改参数。
  首先复制原single.launch文件并重命名为single_realsense.launch

  cd ~/ur_ws/src/aruco_ros/aruco_ros/launch
  cp single.launch single_realsense.launch
  

• 修改参数后的文件为：

  <launch>
  
      <arg name="markerId"        default="582"/>
      <arg name="markerSize"      default="0.034"/>    <!-- in m -->
      <arg name="eye"             default="left"/>
      <arg name="marker_frame"    default="aruco_marker_frame"/>
      <arg name="ref_frame"       default=""/>  <!-- leave empty and the pose will be published wrt param parent_name -->
      <arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->
  
  
      <node pkg="aruco_ros" type="single" name="aruco_single">
          <remap from="/camera_info" to="/camera/color/camera_info" />
          <remap from="/image" to="/camera/color/image_raw" />
          <param name="image_is_rectified" value="True"/>
          <param name="marker_size"        value="$(arg markerSize)"/>
          <param name="marker_id"          value="$(arg markerId)"/>
          <param name="reference_frame"    value="$(arg ref_frame)"/>   <!-- frame in which the marker pose will be refered -->
          <param name="camera_frame"       value="/camera_link"/>
          <param name="marker_frame"       value="$(arg marker_frame)" />
          <param name="corner_refinement"  value="$(arg corner_refinement)" />
      </node>
  
  </launch>
  

• 即修改了下述部分：

  <remap from="/camera_info" to="/camera/color/camera_info" />        
  <remap from="/image" to="/camera/color/image_raw" />
   
  <param name="camera_frame"       value="/camera_link"/>
  

03 运行

• 启动realsense节点

  roslaunch realsense2_camera rs_camera.launch
  

• 启动aruco_ros节点（下述语句根据需要选其一即可）

  # 不指定参数，使用默认参数
  $ roslaunch aruco_ros single.launch 
  # 或指定参数
  $ roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right"
  # 或指定姿态相对的参考坐标系
  $ roslaunch aruco_ros single.launch markerId:=26 markerSize:=0.08 eye:="right" ref_frame:=/base_link
  

• 其他

  # 观察识别效果
  $ rosrun image_view image_view image:=/aruco_single/result
   
  # 查看位姿
  $ rostopic echo /aruco_single/pose
  

04 参考

• https://blog.csdn.net/qq_34935373/article/details/105098244
• https://blog.csdn.net/Stu_art/article/details/121023746