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It might make more sense to add this node to the tiago_demos package rather than keeping it in grab or what do you think? @elsayedelsheikh |
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Totally! I've got an open PR in Tiago with a BT plugin called SetTargetUsingArUcoMarker and asked for your review a couple days ago. |
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Okey, I missed that this was already included in the PR. I’ll remove the package and keep only the BT plugin. |
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Added a new Detect2DMarker Behavior Tree plugin that consumes Detection2DArray messages and selects the nearest 2D marker.
Since the current ArUco node does not publish Detection2DArray, an adapter node is required to convert ArUco outputs to this message type before using the plugin