sl-perception
1fd935b87e
New package saltybot_aruco_detect — DICT_4X4_50 ArUco detection from
RealSense D435i RGB, pose estimation, PoseArray + dock target output.
aruco_math.py (pure Python, no ROS2): rot_mat_to_quat (Shepperd),
rvec_to_quat (Rodrigues + cv2 fallback), tvec_distance, tvec_yaw_rad,
MarkerPose dataclass with lazy-cached distance_m/yaw_rad/lateral_m/quat.
aruco_detect_node.py (ROS2 node 'aruco_detect'):
Subscribes: /camera/color/image_raw (30Hz BGR8) + /camera/color/camera_info.
Converts to greyscale, cv2.aruco.ArucoDetector.detectMarkers().
estimatePoseSingleMarkers (legacy API) with solvePnP(IPPE_SQUARE) fallback.
Dock target: closest marker in dock_marker_ids (default=[42], empty=any),
filtered to max_dock_range_m (3.0m).
Publishes: /saltybot/aruco/markers (PoseArray — all detected, camera frame),
/saltybot/aruco/dock_target (PoseStamped — closest dock candidate,
position.z=forward, position.x=lateral), /saltybot/aruco/viz (MarkerArray
— SPHERE + TEXT per marker, dock in red), /saltybot/aruco/status (JSON
10Hz — detected_count, dock_distance_m, dock_yaw_deg, dock_lateral_m).
Optional debug image with drawDetectedMarkers + drawFrameAxes.
corner_refinement=CORNER_REFINE_SUBPIX.
config/aruco_detect_params.yaml, launch/aruco_detect.launch.py.
test/test_aruco_math.py: 22 unit tests (rotation/quat math, distance,
yaw sign/magnitude, MarkerPose accessors + caching).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
31 lines
923 B
Python
31 lines
923 B
Python
import os
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from glob import glob
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from setuptools import setup
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package_name = 'saltybot_aruco_detect'
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setup(
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name=package_name,
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version='0.1.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='sl-perception',
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maintainer_email='sl-perception@saltylab.local',
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description='ArUco marker detection for docking alignment (Issue #627)',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'aruco_detect = saltybot_aruco_detect.aruco_detect_node:main',
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],
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},
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)
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