Aruco Code Detection Broadcaster #57

andreib1908 · 2025-12-16T15:16:31Z

Implemented Aruco Detection for ROS2

Started learning with Python, but realized the OpenCV docs are written in C++, and ROS also runs on CMake => Switch to C++ OpenCV. Provided code for camera calibration (default code from the OpenCV docs translated from 4.13 to 4.6.0).

The file DetectAruco.cpp provides live feed aurco code pose estimation.

…nate transforms in ROS2. Ported the old aruco C++ code to work with ROS2. Should work as long as you change the live camera link in the aruco_tf2_node.cpp. "aruco_detection" is now archived. Use "aruco_track" instead.

…ger needed after adding "aruco_track" which implements aruco pose into ROS2.

…us camera calibration code has vanished. Gonna need to be reimplemented.

jarkad

Some comments are only there to appease my inner pedant, I've marked those with nit:. Feel free to ignore them.

TL;DR: remove .vscode/, confirm that YOLO allows redistribution.

Otherwise: LGTM, good work!

jarkad · 2025-12-27T18:30:43Z

.vscode/settings.json

+{
+  "cmake.sourceDirectory": "${workspaceFolder}/src/aruco_detection",
+  "cmake.generator": "Ninja",
+  "cmake.configureOnOpen": true
+}


This configures CMake to build src/arudo_detection for everyone. Please remove this file.

Suggested change

{

"cmake.sourceDirectory": "${workspaceFolder}/src/aruco_detection",

"cmake.generator": "Ninja",

"cmake.configureOnOpen": true

}

jarkad · 2025-12-27T18:36:38Z

.vscode/c_cpp_properties.json

This file configures VSCode's CMake plugin, but you shouldn't use CMake directly — ROS2 doesn't like that. Please remove this file and use colcon instead.

I don't think VSCode has a plugin for colcon, though it's possible to define a task that compiles everything if that's more convenient than just using colcon in the command line.

Even if we'd use CMake directly, I still don't like this file because it hardcodes compiler location, c++ version, and include path. CMake is perfectly capable of detecting that by itself, so I'm not sure why VSCode would even create it in the first place.

I tried using the VSCode CMake plugin initially but it was very BAD. So I ended up using colcon instead like a normal human being. I just forgor to remove the plugin and the .vscode files. I'll do it soon.

jarkad · 2025-12-27T18:39:38Z

src/aruco_track/assets/images/ChArUco_A4_300DPI.png

nit: it'll be a bit tidier if you move this file into assets/images/ or something, because assets/ contains all assets: pictures, worlds, robots...

jarkad · 2025-12-27T18:40:48Z

src/aruco_track/assets/DisplayImage.cpp

Please don't put source code in the assets/ directory, it belongs in src/ instead.

"DisplayImage.cpp" is legacy code at this point. It was using the OpenCV C++ library without ROS2. The updated ROS2 broadcaster is '/src/aruco_track/src/aruco_tf2_node.cpp'.

We can probably just remove/archive it.

I see. We can just remove it then, because git will store it either way. Unless you want to reference it later?

jarkad · 2025-12-27T18:42:37Z

src/aruco_track/assets/yolo_test.py

+from ultralytics import YOLO
+
+# === CONFIG ===
+VIDEO_URL = "https://145.126.44.42:8080/video"  # your live feed


nit: this has your phone's IP address hardcoded. Maybe get it from command line arguments instead? Just so you don't have to make a commit every time your phone changes its IP.

Yeah I also find this annoying. That IP address changes every time I start the camera local server. I'll make it a command line input for now, but once we move this code to the actual rover we will use something like "cv2.VideoCapture(0)" to use the digital/depth camera streams instead.

jarkad · 2025-12-27T18:54:54Z

src/aruco_track/package.xml

+  <depend>tf2_ros</depend>
+  <depend>ament_index_cpp</depend>
+
+


Suggested change

jarkad · 2025-12-27T18:58:05Z

.gitignore

 /build/
 /install/
 /log/
+/src/build/
+/src/install/
+/src/log/


These ignores are not needed unless you run colcon in src/? I don't think there's any harm in doing so, though.

If you'd prefer to run colcon from any directory, you can remove the / in the beginning:

Suggested change

/build/

/install/

/log/

/src/build/

/src/install/

/src/log/

build/

install/

log/

I didn't write it like that because then I'll have 3 different build directories and get confused, e.g. building in one directory and checking logs from another.

jarkad · 2025-12-27T18:58:46Z

src/aruco_track/package.xml

  <version>0.0.0</version>
  <description>TODO: Package description</description>
-  <maintainer email="d.khorsun@roboteamtwente.nl">Dmytro Khorsun</maintainer>
-  <license>GPL-3.0-only</license>
+  <maintainer email="badea.andrei1908@gmail.com">andrei</maintainer>


jarkad · 2025-12-27T19:01:52Z

src/aruco_track/CMakeLists.txt

tip: this file can be shortened by quite a bit if you use ament_cmake_auto, which is the One Weird Trick They Don't Tell You About in the tutorials.

Check out src/path_planning/CMakeLists.txt for an example.

If you do use the Trick, it contains this line:

install(DIRECTORY assets/ DESTINATION share/${PROJECT_NAME})

It installs everything in the assets/ directory on the rover, so be sure to move any files you don't need in some other directory.

jarkad · 2025-12-27T19:07:03Z

src/aruco_track/src/aruco_tf2_node.cpp

+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2_ros/transform_broadcaster.h"
+
+#include "tf2/LinearMath/Quaternion.hpp"
+#include "tf2/LinearMath/Matrix3x3.hpp"
+
+#include "ament_index_cpp/get_package_share_directory.hpp"


nit: you can use #include <…> syntax here.

Rule of thumb: <…> is for library headers, "…" is for headers you wrote.

…d warnings (every 3s)

andreib1908 added 8 commits November 21, 2025 11:32

feat: ✨ Aruco pose estimation on live feed with pose estimation

a08b0a5

The file DetectAruco.cpp provides live feed aurco code pose estimation.

feat: 🎨 Moved the Aruco Codes into the aruco-detection folder

dbeddc8

fix: 🎨 A few changes to the folder structure and CMake build

8f42134

refactor: move code to src/

99cf204

feat: Removed the old "aruco_detection" folder from src. It is no lon…

6d40584

…ger needed after adding "aruco_track" which implements aruco pose into ROS2.

feat: Moved extra files into src/aruco_track/assets. TODO: The previo…

c1e8d21

…us camera calibration code has vanished. Gonna need to be reimplemented.

andreib1908 requested a review from jarkad December 25, 2025 18:42

jarkad reviewed Dec 27, 2025

View reviewed changes

jarkad assigned andreib1908 Jan 7, 2026

andreib1908 added 3 commits January 8, 2026 20:51

Added video output window with drawn detected ArUcos and throttled cm…

4f619cb

…d warnings (every 3s)

fix: formatting

d21fa40

fix: more aruco documentation fixes

6ce2f56

jarkad force-pushed the feature/computer-vision branch from 6ce2f56 to c1e8d21 Compare January 22, 2026 14:19

Aruco Code Detection Broadcaster #57

Are you sure you want to change the base?

Aruco Code Detection Broadcaster #57

Uh oh!

Conversation

andreib1908 commented Dec 16, 2025

Uh oh!

jarkad left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants