https://github.com/ubiquityrobotics/fiducials

Simultaneous localization and mapping using fiducial markers.
https://github.com/ubiquityrobotics/fiducials

ceiling-fiducials ros

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Simultaneous localization and mapping using fiducial markers.

• Host: GitHub
• URL: https://github.com/ubiquityrobotics/fiducials
• Owner: UbiquityRobotics
• License: bsd-3-clause
• Created: 2015-02-15T06:11:15.000Z (almost 10 years ago)
• Default Branch: noetic-devel
• Last Pushed: 2024-12-19T17:26:41.000Z (15 days ago)
• Last Synced: 2024-12-22T21:07:43.063Z (12 days ago)
• Topics: ceiling-fiducials, ros
• Language: C
• Size: 12.9 MB
• Stars: 271
• Watchers: 21
• Forks: 135
• Open Issues: 40
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        

# Simultaneous Localization and Mapping Using Fiducial Markers

[![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](LICENSE)

## Overview

This package implements a system that uses ceiling mounted

fiducial markers (think QR Codes) to allow a robot to identify

its location and orientation.  It does this by constructing

a map of the ceiling fiducials.  The position of one fiducial

needs to be specified, then a map of the fiducials is built 

up from observing pairs of markers in the same image. 

Once the map has been constructed, the robot can identify

its location by locating itself relative to one or more 

ceiling fiducials.

Documentation is at [http://wiki.ros.org/fiducials](http://wiki.ros.org/fiducials).

## Recording A Bag File

Sometimes for trobleshooting purposes it is useful to record a bag 

file to capture the exact data on the topics going into and out of 

fiducials.

To do this, while the system is running, run `rosbag record -a`.

You can upload this bag file to a file sharing service like Google

Drive and link to it in your issue, this will help us diagnose 

the problem.