ROS 2 Publish ArUco detections?

cycob

Any examples of using Oak-D-W (97) camera to publish ArUco markers detection in ROS 2 (Humble)?

I have the mobilnet, rgb, and spatial publisher launchers working, but need ArUco marker publisher for docking navigation.

I see the calibrate.py script does marker detection but it doesn’t look like there is a NN model that I can use in a ROS 2 launch file.

erik

Hi @cycob ,
OAK cameras don't have on-device aruco marker detection, but you could publish (high res) color stream to ROS and have aruco marker detection running on the host computer.
Thoughts?

cycob

erik So the calibrate.py is using OpenCV on the host to recognize the markers?

I’ll look for the ROS 2 marker reco package.

Thanks

erik

cycob Yes, that's right🙂

cycob

Got it working

https://discuss.luxonis.com/d/5638-remap-oakrgb-to-camera-for-ros2-aruco-opencv