Instructions to Launch fiducial marker detection for FVD

Build realsense camera node:

colcon build --packages-select-regex realsense2_camera

Build marker detection:

colcon build --packages-select-regex aruco_ros 
colcon build --packages-select-regex  fiducial

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Launch realsense 2 camera node in a terminal:

ros2 launch realsense2_camera rs_launch.py

Ensure that the message Realsense Node is Up! message is published before launching marker detection.

Launch aruco_ros node

ros2 launch aruco_ros marker_publisher.launch.py

Launch fvd node to broadcast simplified detection measurements to use for docking

ros2 run fiducial_marker_fvd fiducial_marker_fvd

This will publish https://github.com/DockDockGo/localization_using_aruco3_markers/blob/fvd/fiducial_msgs/msg/FiducialMarkerData.msg messages to a topic called /fiducial_marker_data

In order to disable the fvd node GUI, set ENABLE_GUI:

localization_using_aruco3_markers/fiducial_marker_fvd/fiducial_marker_fvd/fiducial_marker_fvd.py

Line 19 in 9397909

ENABLE_GUI = True

to False.

In order view fiducial marker detections overlaid on image:

Launch rqt image view and view the fiducial markers topic ending in result or image_result