Ar_track_alvar for ROS noetic

Software ROS1
1

Hi,

I want to use ZED camera for tracking AR tags.

Following the installation instruction , when executing the command “rosdep install --from-paths src --ignore-src -r -y” I see this error:

Screenshot from 2021-09-22 11-42-11
Screenshot from 2021-09-22 11-42-11730×124 20.9 KB

I built the package and when executing the launch command “roslaunch zed_ar_track_alvar_example zed_ar_track_alvar.launch”, I see this error:
ERROR: cannot launch node of type [ar_track_alvar/individualMarkersNoKinect]: ar_track_alvar
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/hamid/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share

I have to state that there isn’t any problem with executing ZED-ROS-WRAPPER node. I’ve built the package before and everything works well with it. Also, ZED SDK has been installed correctly.

I am using “ZED” camera.
OS: ubuntu 20.04
ROS: noetic
CUDA: 11.0
GPU: NVIDIA GTX1050Ti

Can you help me with this issue?
Thank you

2

Have you added the ar_track_alvar_msgs package available here?

3

I’ve done so. I’ve built the package and it is working now. (from this link)

But the tag detections are not accurate and it’s too noisy. My Labmate uses ROS melodic (ubuntu 18) and his detections are far more accurate than mine (same situation). I checked the parameters in “rosrun rqt_reconfigure rqt_reconfigure” and they are all the same either with the zed parameters and ar_track_alvar parameters.

Do I need to configure anything separately in the ar_track_alvar package?

4

Are you sure that the tags are printed correctly and they are placed on a perfectly planar surface?