Comments (2)
While I cannot speak for the authors of this code, I do think that this package's concept very intriguing.
At further range, this code does not use the orientation derived from the two (outer) aruco markers, instead, relying on the translation of the aruco markers to determine the offset angle and offset distance in the middle. This eliminates the influence of wrongful orientation determination from aruco detect into offset calculation. During last mile, it then uses the aruco determined orientation of the smaller marker to dock itself parallel to the normal to the marker plane.
At further range, the both orientation and distance derived from the middle aruco maker is, relatively speaking, terrible. This steers the robot off to where it is supposed to be.
For avoidance of doubt, in this particular comment, orientation refers to roll, pitch, and yaw. While translation and distance refers to x, y, and z.
Are you able to share the other packages that you've seen that use only one aruco marker?
from autodock.
While I cannot speak for the authors of this code, I do think that this package's concept very intriguing.
At further range, this code does not use the orientation derived from the two (outer) aruco markers, instead, relying on the translation of the aruco markers to determine the offset angle and offset distance in the middle. This eliminates the influence of wrongful orientation determination from aruco detect into offset calculation. During last mile, it then uses the aruco determined orientation of the smaller marker to dock itself parallel to the normal to the marker plane.
At further range, the both orientation and distance derived from the middle aruco maker is, relatively speaking, terrible. This steers the robot off to where it is supposed to be.
For avoidance of doubt, in this particular comment, orientation refers to roll, pitch, and yaw. While translation and distance refers to x, y, and z.
Are you able to share the other packages that you've seen that use only one aruco marker?
Thanks for the answer. For example I know neo_docking package
from autodock.
Related Issues (16)
- [Question] Working with high latency HOT 3
- High CPU usage even when IDLE HOT 8
- robot lose the connection with tags when it trying to go parallel HOT 11
- cannot launch autodock HOT 9
- Failed execute Dock Action HOT 5
- AutoDock not progressing after checking yaw for 1st time HOT 2
- autodock failed when robot turned HOT 1
- AutoDock ..bug issue HOT 6
- Can i use 1 Tag instead of 3? HOT 2
- Can we use an up side down camera? HOT 1
- AutodockActionGoal not working HOT 2
- ros-melodic: catkin_make failed HOT 5
- MockRobot Failed lookup: fiducial_10, from base_footprint HOT 1
- What is the size of fiducial marker used in autodock? HOT 2
- porting to ROS2 version HOT 1
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from autodock.