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I struggled a lot, but the apriltag_tracking package never worked...
(I want to enable my TurtleBot3 to track apriltags)
I think it is mainly because of the transform from the following lines of apriltag_tracking.py:
if self.get_clock().now() - self.start_time > Duration(seconds=DELAY):
to_frame_rel = 'camera'
from_frame_rel = 'tag36h11_0'
try:
tf2_msg = self.tf_buffer.lookup_transform(to_frame_rel, from_frame_rel, rclpy.time.Time())
except TransformException as e:
# self.get_logger().info(f'Could not transform {to_frame_rel} to {from_frame_rel}: {e}')
print('No AprilTag marker found, looking for one...')
return
The value of the static transform between base_link and camera I already set them to the right values.
Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_link_to_camera_tf',
# https://navigation.ros.org/setup_guides/transformation/setup_transforms.html
# http://wiki.ros.org/tf#static_transform_publisher
# Static TF Publisher (relationship between base link and camera doesn't change in time)
# static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
# Publish a static coordinate transform to tf2 using an x/y/z offset in meters and yaw/pitch/roll in radians.
# (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X).
arguments = ['0.073', '-0.011', '0.084',
'0.000', '0.000', '0.000',
'base_link', 'camera']
However, i keep getting errors.
I'm pretty sure the apriltag_ros detects the right AprilTag:
Also if I run ros2 topic echo /detections I get the values constantly updating. So I'm sure AprilTag could be detected.
header:
stamp:
sec: 1705330141
nanosec: 981887783
frame_id: camera
detections:
- family: tag36h11
id: 4
hamming: 0
goodness: 0.0
decision_margin: 184.5729522705078
centre:
x: 855.1402853430145
y: 603.4324452437951
corners:
- x: 755.0858764648438
y: 706.0559692382812
- x: 955.772216796875
y: 703.2138061523438
- x: 954.2670288085938
y: 501.7604064941407
- x: 753.432373046875
y: 502.58419799804676
homography:
- 104.6427878042058
- 1.071645325037038
- 855.1402853430145
- 2.0928464181488255
- 101.42798848337623
- 603.4324452437951
- 0.004987543463421618
- 0.000330147913311962
- 1.0
---
I'm getting the same error message for a long time as the transformation never works rightly...
I'm very helpless now, tried every solutions which I can imagine and which I could find in the internet. But it never worked...
Do you have any ideas? Or you faced somehow similar issue during your development?
Much appreciated!
The text was updated successfully, but these errors were encountered:
Hi,
I struggled a lot, but the
apriltag_tracking
package never worked...(I want to enable my TurtleBot3 to track apriltags)
I think it is mainly because of the transform from the following lines of
apriltag_tracking.py
:The value of the static transform between base_link and camera I already set them to the right values.
However, i keep getting errors.
I'm pretty sure the
apriltag_ros
detects the right AprilTag:Also if I run
ros2 topic echo /detections
I get the values constantly updating. So I'm sure AprilTag could be detected.The text was updated successfully, but these errors were encountered: