PKG DOCS – robocluedo_vision

This package is needed in order to read the ArUco markers across the evironment. The detection has been designed to be as much quick as possible.

The package contains only two nodes:

• aruco_detect.cpp implements the detection of the ArUco markers from the four camera streams. It is implemented in order to give a good performances. The node publishes the IDs found in the environment durig the exploration; these IDs shall be decoded.

• aruco_decode.py decodes the ID, i.e. for each ID received from the node aruco_detect, the node asks the Oracle to returnt the hint associated to that ID, and finally publishes the hint.

User Documentation

• HOW TO setup ArUco and OpenCV
  • OpenCV for ROS
    • OpenCV Examples
  • ArUco
  • Importing OpenCV and ArUco
• HOW TO run the package
  • one component

UML diagrams

• UML – RoboCLuedo Vision UML diagram

code reference

• NODE aruco_decode.py
• NODE aruco_detection.cpp