Title:

Cube Pose Tracking using OpenCV and ArUco Board in ROS

Overview

This ROS (Robot Operating System) node implements ArUco marker detection and pose estimation for a cube in a camera's field of view. It subscribes to camera information and image topics, performs marker detection using OpenCV's ArUco library, and estimates the pose of a cube with ArUco markers. The resulting pose information is published as a PoseStamped message and visualized using RViz markers.

Prerequisites

• ROS installed
• OpenCV installed (cv2, cv2.aruco)
• tf library installed
• numpy library installed

Usage

1. Clone this repository into your ROS workspace.

   git clone https://github.com/ammar-n-abbas/aruco-cube-pose-tracking-ros.git

2. Build the ROS workspace.

   cd path/to/your/ros/workspace
   catkin_make

3. Run the ROS node.

   rosrun your_package_name aruco_cube_pose.py

ROS Topics

• Subscribed Topics:

  • /camera/color/camera_info (CameraInfo): Camera information topic.
  • /camera/color/image_raw (Image): Raw camera image topic.

• Published Topics:

  • /aruco_cube/pose (PoseStamped): Pose of the detected cube.
  • /visualization_marker_real_cube (Marker): RViz visualization marker for the cube.

Parameters

• Marker Size: The size of the ArUco marker used for detection.
• Cube Size: The size of the cube.

Notes

• The node assumes a specific marker dictionary (DICT_6X6_1000). Please ensure that this matches your setup.
• Marker visualization in RViz is represented by a cube.