init

.gitignore

@@ -0,0 +1,3 @@
+CMakeLists.txt
+*.vscode*
+robot_demo/img

ar_track_alvar/.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

ar_track_alvar/.gitignore

@@ -0,0 +1,11 @@
+*.pyc
+*.o
+*.so
+*build
+*lib
+*msg_gen
+*srv_gen
+*bin
+*~
+src/ar_track_alvar
+*.user

ar_track_alvar/.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

ar_track_alvar/.travis.yml

@@ -0,0 +1,37 @@
+sudo: required
+dist: trusty
+language: generic
+
+compiler:
+  - gcc
+
+notifications:
+  email:
+    on_failure: always
+    recipients:
+      - [email protected]
+env:
+  global:
+    - ROS_PARALLEL_JOBS=-j4
+  matrix:
+    - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true ABICHECK_URL='github:ros-perception/ar_track_alvar/#kinetic-devel'
+    - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
+    - ROS_DISTRO="kinetic" PRERELEASE=true
+    - ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true
+    - ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
+    - ROS_DISTRO="lunar" PRERELEASE=true
+    - ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true ABICHECK_URL='github:ros-perception/ar_track_alvar/#kinetic-devel'
+    - ROS_DISTRO="melodic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
+    - ROS_DISTRO="melodic" PRERELEASE=true
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="kinetic" PRERELEASE=true
+    - env: ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true NOT_TEST_INSTALL=true
+    - env: ROS_DISTRO="lunar" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu USE_DEB=true NOT_TEST_INSTALL=true VERBOSE_OUTPUT='true'
+    - env: ROS_DISTRO="lunar" PRERELEASE=true
+    - env: ROS_DISTRO="melodic" PRERELEASE=true
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+
+script:
+  - .ci_config/travis.sh

ar_track_alvar/README

@@ -0,0 +1,3 @@
+See [ROS wiki](http://wiki.ros.org/ar_track_alvar) for the users document.
+
+

ar_track_alvar/ar_track_alvar.rosinstall

@@ -0,0 +1,2 @@
+- git: {local-name: ar_track_alvar_metapkg, uri: 'https://github.com/sniekum/ar_track_alvar.git', version: indigo-devel}
+

ar_track_alvar/ar_track_alvar/CHANGELOG.rst

@@ -0,0 +1,95 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ar_track_alvar
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.7.1 (2017-06-14)
+------------------
+* [maintenance] Remove unnecessary metapkg.
+* [fix][build][CMakeLists] Prevent rosdep errors that only occur when running tests with catkin_make_isolated. See http://answers.ros.org/question/262558/buildfarm-missing-package-dependencies-pkg_namepackagexml/
+* [test] Relax tf test criteria `#39 <https://github.com/ros-perception/ar_track_alvar/pull/39>`_
+* Contributors: Isaac I.Y. Saito
+
+0.7.0 (2017-04-21)
+------------------
+* Consolidate ar_track_alvar* packages into a single repo (`#120 <https://github.com/sniekum/ar_track_alvar/issues/120>`_)
+* Contributors: Isaac I.Y. Saito
+
+0.6.3 (2017-02-09)
+------------------
+* [fix] Marker no longer recognized, for IndividualMarkersNoKinect `#93 <https://github.com/sniekum/ar_track_alvar/issues/93>`_
+* [capability] Add param to derive camera frame from pointcloud message frame (`#111 <https://github.com/sniekum/ar_track_alvar/issues/111>`_)
+* [capability ] individual marker nodes: replace command line args with ros parameters (`#99 <https://github.com/sniekum/ar_track_alvar/issues/99>`_)
+* [maintenance] Add system test using .bag. (`#106 <https://github.com/sniekum/ar_track_alvar/issues/106>`_)
+* Contributors: Hans-Joachim Krauch, Isaac I.Y. Saito
+
+0.6.2 (2017-02-07)
+------------------
+* [fix] Marker no longer recognized `#93 <https://github.com/sniekum/ar_track_alvar/issues/93>`_
+* [fix] add install rule for bundles folder; fixes `#88 <https://github.com/sniekum/ar_track_alvar/issues/88>`_
+* [fix] Shutdown camera info sub after called
+* [enhancement] add mark_resolution and mark_marge as input option
+* [enhancement] individualMarkers: replace cout with ROS_DEBUG_STREAM (`#101 <https://github.com/sniekum/ar_track_alvar/issues/101>`_)
+* Contributors: Alex Reimann, Hans-Joachim Krauch, Isaac I.Y. Saito, TORK Developer 534
+
+0.6.1 (2016-06-08)
+------------------
+* New parameter -array to create an array of markers `#85 <https://github.com/sniekum/ar_track_alvar/issues/85>`_ from 130s/kinetic/add_60
+* Fix build for Kinetic by adding missing dependencies on gencfg `#84 <https://github.com/sniekum/ar_track_alvar/issues/84>`_ from 130s/kinetic/fix_buildfarm
+
+* [sys] Add a maintainer to receive notification from ros buildfarm.
+* Contributors: Jackie Kay, Mehdi, Isaac I.Y. Saito
+
+0.6.0 (2016-06-01)
+------------------
+* Made compatible to ROS-Kinetic-Kame `#80 <https://github.com/sniekum/ar_track_alvar/issues/80>`_
+* [Travis CI] Add ROS Kinetic support. Add Prerelease Test on Travis `#79 <https://github.com/sniekum/ar_track_alvar/issues/79>`_
+* Contributors: Sepehr MohaimenianPour, Isaac I.Y. Saito
+
+0.5.3 (2016-02-02)
+------------------
+* [feat] New bool-Topic to enable/disable the marker detection (`#70 <https://github.com/sniekum/ar_track_alvar/issues/70>`_)
+* [feat] added public way to set intrinsicCalibration for Camera class
+* [fix] not publishing marker that are facing in the same direction as the camera.
+* [sys] removed duplicate code for image subscription
+* Contributors: Nikolas Engelhard, Scott Niekum
+
+0.5.2 (2015-11-27)
+------------------
+* [fix] Move tf include from header to cpp files, fixes `#66 <https://github.com/sniekum/ar_track_alvar/issues/66>`_
+  The header currently prevents us from re-using the library as a given library (because it pulls in tf2 which causes trouble). The include has been moved to the individual nodes which actually use a TransformBroadcaster.
+* [fix] proper virtual destruction `#63 <https://github.com/sniekum/ar_track_alvar/issues/63>`_.
+* improve license information in package.xml (`#58 <https://github.com/sniekum/ar_track_alvar/issues/58>`_)
+* Added time stamp to header (`#57 <https://github.com/sniekum/ar_track_alvar/issues/57>`_)
+  Previously, each pose had a timestamp, but the whole message did not. By including the timestamp for the whole message, it is now possible to use the results of the ar_pose_marker topic with other messages using message_filters::Synchronizer.
+* Contributors: Alex Henning, Bener Suay, Lukas Bulwahn, Scott Niekum, Tim Niemueller, Isaac I. Y. Saito
+
+0.5.1 (2015-04-14)
+------------------
+* Remove meta pkg; ar_track_alvar is 'unary stack' so no need for the meta pkg.
+* Contributors: Scott Niekum, Isaac IY Saito
+
+0.5.0 (2014-06-25)
+------------------
+* move README to root directory
+* Merge remote-tracking branch 'origin/hydro-devel' into indigo-devel
+* ar_track_alvar package uses ar_track_alvar_msgs
+* restructuring packages. Separate out the message package.
+* Contributors: Jihoon Lee
+
+0.4.1 (2013-11-28)
+------------------
+
+0.3.3 (2013-02-22)
+------------------
+
+0.3.2 (2013-02-18)
+------------------
+
+0.3.1 (2013-02-14)
+------------------
+
+0.3.0 (2013-01-17)
+------------------
+
+0.2.0 (2012-08-08)
+------------------

ar_track_alvar/ar_track_alvar/bundles/table_8_9_10.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<multimarker markers="4">
+    <marker index="8" status="1">
+        <corner x="-2.2" y="-2.2" z="0" />
+        <corner x="2.2" y="-2.2" z="0" />
+        <corner x="2.2" y="2.2" z="0" />
+        <corner x="-2.2" y="2.2" z="0" />
+    </marker>
+    <marker index="9" status="1">
+        <corner x="6.8" y="-2.2" z="0" />
+        <corner x="11.2" y="-2.2" z="0" />
+        <corner x="11.2" y="2.2" z="0" />
+        <corner x="6.8" y="2.2" z="0" />
+    </marker>
+    <marker index="10" status="1">
+        <corner x="-2.2" y="-11.2" z="0" />
+        <corner x="2.2" y="-11.2" z="0" />
+        <corner x="2.2" y="-6.8" z="0" />
+        <corner x="-2.2" y="-6.8" z="0" />
+    </marker>
+
+    <marker index="16" status="1">
+        <corner x="-2.2" y="6.8" z="0" />
+        <corner x="2.2" y="6.8" z="0" />
+        <corner x="2.2" y="11.2" z="0" />
+        <corner x="-2.2" y="11.2" z="0" />
+    </marker>
+
+
+</multimarker>

ar_track_alvar/ar_track_alvar/bundles/tags8and9.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<multimarker markers="2">
+    <marker index="8" status="1">
+        <corner x="-2.2" y="-2.2" z="0.0" />
+        <corner x="2.2" y="-2.2" z="0.0" />
+        <corner x="2.2" y="2.2" z="0.0" />
+        <corner x="-2.2" y="2.2" z="0.0" />
+    </marker>
+    <marker index="9" status="1">
+        <corner x="-2.2" y="11.8" z="0.0" />
+        <corner x="2.2" y="11.8" z="0.0" />
+        <corner x="2.2" y="16.2" z="0.0" />
+        <corner x="-2.2" y="16.2" z="0.0" />
+    </marker>
+</multimarker>

ar_track_alvar/ar_track_alvar/bundles/truthTableLeg.xml

@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<multimarker markers="13">
+    <marker index="0" status="2">
+        <corner x="-2.2" y="-2.2" z="0.0" />
+        <corner x="2.2" y="-2.2" z="0.0" />
+        <corner x="2.2" y="2.2" z="0.0" />
+        <corner x="-2.2" y="2.2" z="0.0" />
+    </marker>
+    <marker index="1" status="2">
+        <corner x="-2.2" y="13.1" z="0.0" />
+        <corner x="2.2" y="13.1" z="0.0" />
+        <corner x="2.2" y="17.5" z="0.0" />
+        <corner x="-2.2" y="17.5" z="0.0" />
+    </marker>
+    <marker index="2" status="2">
+        <corner x="2.5" y="-2.2" z="-0.3" />
+        <corner x="2.5" y="-2.2" z="-4.7" />
+        <corner x="2.5" y="2.2" z="-4.7" />
+        <corner x="2.5" y="2.2" z="-0.3" />
+    </marker>
+    <marker index="3" status="2">
+        <corner x="2.5" y="13.1" z="-0.3" />
+        <corner x="2.5" y="13.1" z="-4.7" />
+        <corner x="2.5" y="17.5" z="-4.7" />
+        <corner x="2.5" y="17.5" z="-0.3" />
+    </marker>
+    <marker index="4" status="2">
+        <corner x="2.2" y="-2.2" z="-5.0" />
+        <corner x="-2.2" y="-2.2" z="-5.0" />
+        <corner x="-2.2" y="2.2" z="-5.0" />
+        <corner x="2.2" y="2.2" z="-5.0" />
+    </marker>
+    <marker index="5" status="2">
+        <corner x="2.2" y="13.1" z="-5.0" />
+        <corner x="-2.2" y="13.1" z="-5.0" />
+        <corner x="-2.2" y="17.5" z="-5.0" />
+        <corner x="2.2" y="17.5" z="-5.0" />
+    </marker>
+    <marker index="6" status="2">
+        <corner x="-2.5" y="-2.2" z="-4.7" />
+        <corner x="-2.5" y="-2.2" z="-0.3" />
+        <corner x="-2.5" y="2.2" z="-0.3" />
+        <corner x="-2.5" y="2.2" z="-4.7" />
+    </marker>
+    <marker index="7" status="2">
+        <corner x="-2.5" y="13.1" z="-4.7" />
+        <corner x="-2.5" y="13.1" z="-0.3" />
+        <corner x="-2.5" y="17.5" z="-0.3" />
+        <corner x="-2.5" y="17.5" z="-4.7" />
+    </marker>
+    <marker index="11" status="2">
+        <corner x="-2.2" y="27.5" z="0.0" />
+        <corner x="2.2" y="27.5" z="0.0" />
+        <corner x="2.2" y="31.9" z="0.0" />
+        <corner x="-2.2" y="31.9" z="0.0" />
+    </marker>
+    <marker index="12" status="2">
+        <corner x="2.5" y="27.5" z="-0.3" />
+        <corner x="2.5" y="27.5" z="-4.7" />
+        <corner x="2.5" y="31.9" z="-4.7" />
+        <corner x="2.5" y="31.9" z="-0.3" />
+    </marker>
+    <marker index="13" status="2">
+        <corner x="2.2" y="27.5" z="-5.0" />
+        <corner x="-2.2" y="27.5" z="-5.0" />
+        <corner x="-2.2" y="31.9" z="-5.0" />
+        <corner x="2.2" y="31.9" z="-5.0" />
+    </marker>
+    <marker index="14" status="2">
+        <corner x="-2.5" y="27.5" z="-4.7" />
+        <corner x="-2.5" y="27.5" z="-0.3" />
+        <corner x="-2.5" y="31.9" z="-0.3" />
+        <corner x="-2.5" y="31.9" z="-4.7" />
+    </marker>
+    <marker index="15" status="2">
+        <corner x="-2.2" y="35.5" z="-0.3" />
+        <corner x="2.2" y="35.5" z="-0.3" />
+        <corner x="2.2" y="35.5" z="-4.7" />
+        <corner x="-2.2" y="35.5" z="-4.7" />
+    </marker>
+</multimarker>

ar_track_alvar/ar_track_alvar/cfg/Params.cfg

@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+
+PACKAGE = "ar_track_alvar"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("enabled", bool_t, 0, "Enable/disable tracking, unsubscribing from camera topic to stop openni processing", True)
+gen.add("max_frequency", double_t, 0, "Maximum processing rate; frames coming at a higher rate are discarded", 10.0, 1.0, 30.0)
+gen.add("marker_size", double_t, 0, "The width in centimeters of one side of the black square marker border", 10.0, 1.0, 100.0)
+gen.add("max_new_marker_error", double_t, 0, "A threshold determining when new markers can be detected under uncertainty", 0.08, 0.0, 2.0)
+gen.add("max_track_error", double_t, 0, "A threshold determining how much tracking error can be observed before an tag is considered to have disappeared", 0.2, 0.0, 4.0)
+
+# Second arg is node name it will run in (doc purposes only), third is generated filename prefix
+exit(gen.generate(PACKAGE, "ar_track_alvar_configure", "Params"))