lab4_aruco_exercise

ROS2 node that detects ArUco markers via TF2 and records their confirmed positions in the map frame as RViz visualization markers.

Setup

mkdir -p astro_ws/src
cd astro_ws/src
git clone https://github.com/CRTA-Lab/ASTRO.git
git clone https://github.com/CRTA-Lab/lab4_aruco_exercise.git
cd ..
colcon build --symlink-install

Usage

1. Start the robot state publisher

ros2 launch astro rsp.launch.py

2. Start localization

cd src/lab4_aruco_exercise
ros2 launch astro_navigation localization.launch.py map:=maps/lab4_aruco_mapa.yaml

3. Open RViz

ros2 run rviz2 rviz2 -d ~/astro_ws/src/lab4_aruco_exercise/config/nav2_default_view.rviz

Don't forget to give 2D Pose Estimate in rviz2

4. Run the ArUco TF broadcaster

ros2 run lab4_aruco_exercise basic_aruco_cv_transformation

5. Run the ArUco map marker node

ros2 run lab4_aruco_exercise aruco_map_marker

Drive the robot within 70 cm of each marker. Once 10–15 TF readings are collected, the marker is confirmed and drawn in RViz on the /aruco_map_markers topic.

Topics

Name	Type	Description
/aruco_map_markers	visualization_msgs/msg/MarkerArray	Confirmed marker poses visualized in the map frame