diff --git a/.cmake-format.yaml b/.cmake-format.yaml
new file mode 100644
index 0000000..e70e353
--- /dev/null
+++ b/.cmake-format.yaml
@@ -0,0 +1,33 @@
+additional_commands:
+ foo:
+ flags:
+ - BAR
+ - BAZ
+ kwargs:
+ DEPENDS: '*'
+ HEADERS: '*'
+ SOURCES: '*'
+algorithm_order:
+- 0
+- 1
+- 2
+- 3
+always_wrap: []
+bullet_char: '*'
+command_case: lower
+dangle_parens: false
+emit_byteorder_mark: false
+enable_markup: false
+enum_char: .
+fence_pattern: ^\s*([`~]{3}[`~]*)(.*)$
+first_comment_is_literal: false
+keyword_case: upper
+line_ending: unix
+line_width: 80
+literal_comment_pattern: null
+max_subargs_per_line: 3
+per_command: {}
+ruler_pattern: ^\s*[^\w\s]{3}.*[^\w\s]{3}$
+separate_ctrl_name_with_space: false
+separate_fn_name_with_space: false
+tab_size: 2
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..12e6329
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,10 @@
+- repo: local
+ hooks:
+ - id: clang-format
+ name: Run clang-format
+ description: Clang C/C++ code formatter.
+ entry: clang-format -i
+ args: [-style=file]
+ language: system
+ types: [file, c++]
+ # note: formatting style in .clang-format
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
new file mode 100644
index 0000000..6f27370
--- /dev/null
+++ b/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ar_track_alvar
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (202X-XX-XX)
+-------------------
+* first public release for ROS Noetic
\ No newline at end of file
diff --git a/README b/README
deleted file mode 100644
index 60a5efb..0000000
--- a/README
+++ /dev/null
@@ -1,3 +0,0 @@
-See [ROS wiki](http://wiki.ros.org/ar_track_alvar) for the users document.
-
-
diff --git a/README.en.md b/README.en.md
new file mode 100644
index 0000000..d1cdbd3
--- /dev/null
+++ b/README.en.md
@@ -0,0 +1,99 @@
+# **ar_to_distance**
+
+
+[JP](README.md) | [EN](README_en.md)
+
+[![Contributors][contributors-shield]][contributors-url]
+[![Forks][forks-shield]][forks-url]
+[![Stargazers][stars-shield]][stars-url]
+[![Issues][issues-shield]][issues-url]
+
+
+
+
+ Table of Contents
+
+ -
+ Overview
+
+ -
+ Setup
+
+
+ - Usage
+ - Milestones
+ - Changelog
+
+
+ - References
+
+
+
+
+## Overview
+- Package to calculate distance from AR codes
+- Sends TF relative to camera from AR codes.
+※ Please detect using the AR markers located in /ar_track_alvar/markers.
+(Back to top)
+
+
+## Setup
+See [ROS wiki](http://wiki.ros.org/ar_track_alvar) for the user's documentation.
+
+### Environment
+Below are the operating environment details required for proper functioning.
+| System | Version |
+| ------------- | ------------- |
+| Ubuntu | 20.04 (Focal Fossa) |
+| ROS | Noetic Ninjemys |
+
+
+## Usage
+
+- Azure Kinect Launcher (Detection using Azure Kinect)
+```
+$ roslaunch ar_track_alvar azure_kinect.launch
+```
+※If using a different camera, please make sure to change the topic name and frame name accordingly.
+
+- [Back to Top](#ar_to_distance)
+
+
+## Milestones
+- [ ] Open Source Software
+ - [ ] Improve documentation
+ - [ ] Standardize coding style
+
+Check the [Issue page](https://github.com/ros-perception/ar_track_alvar/issues) for current bugs or feature requests.
+
+(Back to top)
+
+
+## Changelog
+ Please refer to the rst.file for the changelog.
+
+## References
+
+* []()
+* []()
+* []()
+
+(Back to top)
+
+
+
+
+
+[contributors-shield]: https://img.shields.io/github/contributors/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[contributors-url]: https://github.com/TeamSOBITS/ar_track_alvar/graphs/contributors
+[forks-shield]: https://img.shields.io/github/forks/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[forks-url]: https://github.com/TeamSOBITS/ar_track_alvar/network/members
+[stars-shield]: https://img.shields.io/github/stars/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[stars-url]: https://github.com/TeamSOBITS/ar_track_alvar/stargazers
+[issues-shield]: https://img.shields.io/github/issues/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[issues-url]: https://github.com/TeamSOBITS/ar_track_alvar/issues
+[license-shield]: https://img.shields.io/github/license/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..c40cc51
--- /dev/null
+++ b/README.md
@@ -0,0 +1,98 @@
+# **ar_to_distance**
+
+
+[JP](README.md) | [EN](README_en.md)
+
+[![Contributors][contributors-shield]][contributors-url]
+[![Forks][forks-shield]][forks-url]
+[![Stargazers][stars-shield]][stars-url]
+[![Issues][issues-shield]][issues-url]
+
+
+
+
+ 目次
+
+ -
+ 概要
+
+ -
+ 環境構築
+
+
+ - 実行・操作方法
+ - マイルストーン
+ - 変更履歴
+
+
+ - 参考文献
+
+
+
+
+## 概要
+- ARコードを読み取り距離を算出するパッケージ
+- ARコードからcamera基準のTFを送信します．
+- ※/ar_track_alvar/makers にあるARマーカーを使用して検出してください．
+(上に戻る)
+
+
+## セットアップ
+ [ROS wiki](http://wiki.ros.org/ar_track_alvar) を参照してください.
+
+### 環境条件
+以下に正常動作環境を示します．
+| System | Version |
+| ------------- | ------------- |
+| Ubuntu | 20.04 (Focal Fossa) |
+| ROS | Noetic Ninjemys |
+
+
+## 実行・操作方法
+
+- Azure Kinect Launcher(Azure Kinectを使用して検出します)
+```
+$ roslaunch ar_track_alvar azure_kinect.launch
+```
+※その他のカメラを使用した場合は、トピック名とframe名を変更してください．
+- [Topに戻る](#ar_to_distance)
+
+
+## マイルストーン
+- [ ] OSS
+ - [ ] ドキュメンテーションの充実
+ - [ ] コーディングスタイルの統一
+
+現時点のバッグや新規機能の依頼を確認するために[Issueページ](https://github.com/ros-perception/ar_track_alvar/issues) をご覧ください．
+
+(上に)
+
+
+## 変更履歴
+ 変更履歴はrst.fileを参照してください
+
+## 参考文献
+
+* []()
+* []()
+* []()
+
+(上に戻る)
+
+
+
+
+
+[contributors-shield]: https://img.shields.io/github/contributors/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[contributors-url]: https://github.com/TeamSOBITS/ar_track_alvar/graphs/contributors
+[forks-shield]: https://img.shields.io/github/forks/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[forks-url]: https://github.com/TeamSOBITS/ar_track_alvar/network/members
+[stars-shield]: https://img.shields.io/github/stars/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[stars-url]: https://github.com/TeamSOBITS/ar_track_alvar/stargazers
+[issues-shield]: https://img.shields.io/github/issues/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[issues-url]: https://github.com/TeamSOBITS/ar_track_alvar/issues
+[license-shield]: https://img.shields.io/github/license/TeamSOBITS/ar_track_alvar.svg?style=for-the-badge
+[license-url]: https://github.com/TeamSOBITS/ar_track_alvar/blob/master/LICENSE.txt
diff --git a/ar_track_alvar/launch/azure_kinect.launch b/ar_track_alvar/launch/azure_kinect.launch
new file mode 100644
index 0000000..2d2228c
--- /dev/null
+++ b/ar_track_alvar/launch/azure_kinect.launch
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp b/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp
index 56ed7ea..1b72841 100644
--- a/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp
+++ b/ar_track_alvar/nodes/IndividualMarkersNoKinect.cpp
@@ -238,6 +238,13 @@ void configCallback(ar_track_alvar::ParamsConfig& config, uint32_t level)
enableSwitched = enabled != config.enabled;
+ if (config.marker_size != marker_size)
+ {
+ marker_detector.SetMarkerSize(config.marker_size, marker_resolution, marker_margin);
+ marker_detector.TrackMarkersReset();
+ marker_detector.markers->clear();
+ }
+
enabled = config.enabled;
max_frequency = config.max_frequency;
marker_size = config.marker_size;
diff --git a/ar_track_alvar/src/tf_broadcaster.cpp b/ar_track_alvar/src/tf_broadcaster.cpp
new file mode 100644
index 0000000..2c3e121
--- /dev/null
+++ b/ar_track_alvar/src/tf_broadcaster.cpp
@@ -0,0 +1,94 @@
+#include
+#include
+#include
+#include
+#include
+#include
+
+class BroadcasterNode{
+ private:
+ //initilize ros
+ ros::NodeHandle nh;
+ ros::Subscriber sub_visp_status;
+ ros::Subscriber sub_visp_name;
+ ros::Subscriber sub_visp_distance;
+
+ //TF
+ tf::TransformBroadcaster br;
+ std::string camera_frame_name;
+
+ //QR parameters
+ int status_qr;
+ std::string object_name;
+ geometry_msgs::PoseStamped qr_pose;
+
+
+ public:
+ bool exec_flag;
+ BroadcasterNode();
+ void get_statusQR(std_msgs::Int8);
+ void get_nameQR(std_msgs::String);
+ void get_distanceQR(geometry_msgs::PoseStamped);
+ void tf_broadcaster();
+};
+
+BroadcasterNode::BroadcasterNode(){
+ this->sub_visp_status = nh.subscribe("/visp_auto_tracker/status",1,&BroadcasterNode::get_statusQR,this);
+ this->sub_visp_name = nh.subscribe("/visp_auto_tracker/code_message",1,&BroadcasterNode::get_nameQR,this);
+ this->sub_visp_distance = nh.subscribe("/visp_auto_tracker/object_position",1,&BroadcasterNode::get_distanceQR,this);
+ ROS_INFO("tf_broadcaster initialize ok");
+ if(exec_flag = true){
+ //tf_broadcaster();
+ }
+}
+
+void BroadcasterNode::get_statusQR(std_msgs::Int8 status){
+ this->status_qr = status.data;
+ //ROS_INFO("QR status: %s",status_qr);
+ //std::cout << status_qr << std::endl;
+ if(status_qr == 1) this->exec_flag = false;
+}
+
+void BroadcasterNode::get_nameQR(std_msgs::String qr_message){
+ this->object_name = qr_message.data;
+ //ROS_INFO("QR message: %s",status_qr);
+ //std::cout << object_name << std::endl;
+}
+
+void BroadcasterNode::get_distanceQR(geometry_msgs::PoseStamped qr_distance){
+ this->qr_pose = qr_distance;
+ this->exec_flag = true;
+ //ROS_INFO("QR pose: %ld",qr_pose);
+ //std::cout << qr_pose << std::endl;
+}
+
+void BroadcasterNode::tf_broadcaster(){
+ tf::Transform transform;
+ //set position
+ float obj_x = qr_pose.pose.position.x;
+ float obj_y = qr_pose.pose.position.y;
+ float obj_z = qr_pose.pose.position.z;
+ transform.setOrigin(tf::Vector3(obj_x,obj_y,obj_z));
+
+ //set rotation
+ float rot_x = qr_pose.pose.orientation.x;
+ float rot_y = qr_pose.pose.orientation.y;
+ float rot_z = qr_pose.pose.orientation.z;
+ float rot_w = qr_pose.pose.orientation.w;
+ tf::Quaternion q;
+ q.setValue(rot_x,rot_y,rot_z,rot_w);
+ transform.setRotation(q);
+
+ br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),"head_rgb_camera_link",object_name));
+}
+
+int main(int argc, char *argv[]){
+ ros::init(argc,argv,"tf_broadcaster_node");
+ BroadcasterNode bcn;
+ ros::Rate loop_rate(30);
+ while(ros::ok()){
+ bcn.tf_broadcaster();
+ loop_rate.sleep();
+ ros::spinOnce();
+ }
+}
diff --git a/ar_track_alvar/test/test_ar.py b/ar_track_alvar/test/test_ar.py
index 287ba86..72bf79b 100755
--- a/ar_track_alvar/test/test_ar.py
+++ b/ar_track_alvar/test/test_ar.py
@@ -85,7 +85,7 @@ def test_markers(self):
while not rospy.is_shutdown():
try:
target_frame = '/ar_marker_{}'.format(i)
- (trans, rot) = self.tflistener.lookupTransform('/camera', target_frame, rospy.Time(0))
+ (trans, rot) = self.tflistener.lookupTransform('/camera_link', target_frame, rospy.Time(0))
break
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e:
rospy.logerr(str(e) + ' target_frame={}'.format(target_frame))