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See http://rc-visard.com and http://doc.rc-visard.com for more details.

Overview

This node provides ROS service calls and parameters for the TagDetect module.

For detail description of the TagDetect module check the rc_visard manual.

Configuration

Parameters

• host: The IP address or hostname of the rc_visard that should be used.

Since version 2.7, the device ID can be used instead of the sensor's IP address:

• device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:

  • serial number, e.g. 02912345.

  Preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://gSinceithub.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.

  • user defined name must be unique among all reachable sensors.
  If no device or host is given, this parameter works if just one rc_visard is connected.

Dynamic reconfigure parameters

• use_cached_images: Use most recently received image pair instead of waiting for a new pair.

• forget_after_n_detections: Number of detection runs after which to forget about a previous tag during tag re-identification.

• max_corner_distance: Maximum distance of corresponding tag corners in meters during tag re-identification.

• quality: Quality of tag detection (H, M or L).

• detect_inverted_tags: Detect tags with black and white exchanged.

• publish_visualization: Whether or not the tf and markers should be published.

Services

The following services are offered to follow the calibration routine:

• detect: Triggers single detection.

• start_continuous_detection: Starts continuous detection.

• stop_continuous_detection: Stops continuous detection.

Launch

Using command line parameters:

• rosrun rc_tagdetect_client rc_april_node _host:=<sensor_ip>
  rosrun rc_tagdetect_client rc_qr_node _host:=<sensor_ip>

Since version 2.7:

• rosrun rc_tagdetect_client rc_april_node _device:=:<serial_number>
  rosrun rc_tagdetect_client rc_qr_node _device:=:<serial_number>

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Acknowledgements