安裝
1.cd ~/catkin_ws/src
2.git clone https://github.com/pal-robotics/aruco_ros.git
3.cd ..
4.catkin_make install
5.sudo apt-get install ros-indigo-usb-cam(試了好幾遍婴氮，一直有問(wèn)題靖苇，但某來(lái)不知道怎么里面就存在了)
6.source install/setup.bash
7.cd src/aruco_ros/aruco_ros/launch/
修改aruco_ros下的single.launch文件瞳购，修改節(jié)點(diǎn)躏惋。如果使用usb攝像頭可以通過(guò)usb_cam節(jié)點(diǎn)發(fā)布的image和camera_info主題发魄。如果使用kinect攝像頭，改成kinect相應(yīng)的節(jié)點(diǎn)片迅。
<remap from=”/camera_info” to=”/usb_cam/camera_info” />
<remap from=”/image” to=”/usb_cam/image_raw” />
使用
1.roscore
2.roslaunch usb_cam-stream.launch(使用kinect攝像頭改成相應(yīng)的驅(qū)動(dòng)起來(lái))
3.cd ~/catkin_ws/src/aruco_ros/aruco_ros/launch/
roslaunch single.launch
4.rosrun image_view image_view image:=/aruco_single/result
（檢測(cè)marker點(diǎn)）
5.rostopic echo /aruco_single/pose（查看位姿）
