ASCTEC Pelican Aruco
1. Relevant information
- Admin: asctec
- Password: asctec
- Pelican IP: 192.168.0.20
- Default Laptop IP: 192.168.0.110
- Pelican Ubuntu Ver: 10.04 (Lucid Lynx)
- Pelican ROS Ver: Electric
- Pelican Camera: Ueye Camera – UI-1221LE
The aruco_ros package has been rewritted for ros electric and for cmake 2.4.6 version.
For more information don’t esitate to contact me at: giuseppe.gillini@unicas.it
2. Setting up Pelican Environment
To open the Pelican GUI interface run
sudo asctec-startx
To start connection ad-hoc connection between the Pelican and your laptop run:
Pelican Terminal:
cd Desktop
sudo sh roboManet.h
Laptop Terminal:
cd "pathWhereIsS97myconf_rete.h"
sudo sh S97myconf_rete.h
3. Pelican Aruco Environment
Setting up the Aruco SDK
Download the 1.2.5 SDK and extract the content; then now, in your terminal, make sure you are within the ArUco directory and run the following commands:
mkdir build
cd build
cmake ..
make
sudo make install
Use Aruco
Once copied the content of the Pelican_RosWorkspace_Aruco packege into the Pelican ros_workspace, to compile run:
rosmake -a
To start using Pelican ueye’ cameras run:
roslaunch ueyecamera camera.launch
Published Topics:
- /camera/image
- /camera1/image
- /camera2/image
The topic’s name depend on which ueye camera you want to use.
To publish the camera_info topic that is needed to let the aruco libs work in a correctly way run:
rosrun camera_info_pub camera_info_pub
Run your tf node:
rosrun tf tf_monitor
Once chosen the ueye camera to use go in the marker_publisher launch file:
cd ../aruco_ros/launch/marker_publisher.launch
and write your ueye camera and camera_info topics instead the default ones. Then run:
roslaunch aruco_ros marker_publisher.launch
To show the marker identification result run:
rosrun image_view image_view image:=/aruco_mark_publisher/result