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一、sudo apt-get install ros-indigo-ar-track-alvar 二、roscd rbx2_ar_tags/data 三、rosrun ar_track_alvar createMarker 0 四、eog MarkerData_0.png 五、rosrun ar_track_alvar createMarker 六、rosrun ar_track_alvar createMarker -s 5 7 七、roscd rbx2_ar_tags/data rosrun ar_track_alvar createMarker -s 5 0 rosrun ar_track_alvar createMarker -s 5 1 rosrun ar_track_alvar createMarker -s 5 2 --------------------------------------------------------------------------------------------------------------- Launching the camera driver and ar_track_alvar node 一、roslaunch rbx2_vision openni_node.launch 二、roslaunch rbx2_ar_tags ar_indiv_kinect.launch ------------------------------------------------------------------------------------------------------------ Testing marker detection ar_track_alvar ------------------------------------------------------------------------------------------------------------ Understanding the /ar_pose_marker topic rosmsg show ar_track_alvar/AlvarMarker rostopic echo /ar_pose_marker rostopic echo /ar_pose_marker/markers[0] ---------------------------------------------------------------------------------------------------------- Viewing the markers in RViz rosrun rviz rviz -d `rospack find rbx2_ar_tags`/ar_tags.rviz ------------------------------------------------------------------------------------------------------------- Accessing AR Tag Poses in your Programs roslaunch rbx2_vision openni_node.launch roslaunch rbx2_ar_tags ar_indiv_kinect.launch roslaunch rbx2_ar_tags ar_tags_cog.launch rostopic echo /target_pose ------------------------------------------------------------------------------------------------------------- Tracking the tags with a pan-and-tilt head roslaunch rbx2_vision openni_node.launch roslaunch rbx2_ar_tags ar_indiv_kinect.launch roslaunch rbx2_ar_tags ar_tags_cog.launch roslaunch rbx2_bringup pi_robot_head_only.launch sim:=false roslaunch rbx2_diagnostics monitor_dynamixels.launch roslaunch rbx2_dynamixels head_tracker.launch sim:=false |
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来自： 海漩涡 > 《ros by example vol1》
