fetch-visual-navigation-recalibration

This package handles the recalibration using ArUco Markermap

Setup

build the package as a standard ROS package via

catkin_make

first you need to launch the visual navigation stack please check fetch-visual-navigation-stack repo for that

Execute this command to bring up camera_pose publisher. It will keep publish camera_pose relative to the markermap detected

rosrun camera_utils camera_pose

Execute this command to bring up markermap static transform publisher.

roslaunch camera_utils static_publisher.launch

Execute the following python script by

python base_link_marker_map_bind.py
python recalib.py

Note

those script are located in the script folder and since it's not in the package.xml you need to execute them mannually

Now everything should be up and running when you send navigation goals to fetch it will automatically recalibrate itself