ArUco Marker detection in stretch_web_teleop

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1

Hello!

We’re having trouble getting Stretch to detect ArUco markers through the web teleop interface. When we run the detection commands manually, the robot successfully identifies the markers. However, when we add the detect_aruco_markers node as a node and launch it from the launch file and start the web interface, detection fails.

I’ve attached a file for context which includes the commands we ran and code modifications. We’re wondering if this might be due to multiple processes attempting to access the cameras simultaneously. We also reviewed the commit history of ArUco Marker implementation on the interface as reference, but noticed it has not been actively developed for a couple of years.

Any insights or suggestions would be greatly appreciated!

Perception debug.pdf (85.8 KB)

Thank you!

2

Hi @sahitha ,

Thank you for your message.

Just to clarify, did you add your ArUco tag id to stretch_core/config/stretch_marker_dict.yaml before launching your node?

This docs page explains more about the aruco marker dictionary: Align to ArUco - Stretch Docs

Could you also try to run the ros2 launch stretch_core align_to_aruco.launch.py example to see if it works for you? You will need a printout of the QRCode as explained in Align to ArUco - Stretch Docs . Thanks!

Best,

Shehab