The demo package

This package contains various launch scripts to run the tracking.

Launch files overview

Live tracking

file	note
start_cameras.launch	Start all cameras (1,2,3,4,5)
start_aruco3_tracking.launch	Start tracking of common markers (small ones) based on aruco version 3
start_aruco3_calibration.launch	Start tracking of calibration markers (big ones) based on aruco version 3
start_artoolkit5_all.launch	Start tracking based on ARToolkit version 5
start_localization.launch	Start fusion of tracking
master_sync_cam_publish.launch	Running multimaster server

Demonstrations

file	note
vacuum_robot_single_camera_kalman_test_play.launch	MIELE RX1 cleaning an occluded area under one camera
vacuum_robot_single_camera_kalman_test_record.launch	Recording for vacuum_robot_single_camera_kalman_test_play.launch
vacuum_robot_all_camera_kalman_test_play.launch	MIELE RX1 cleaning a free area under all cameras
vacuum_robot_all_camera_kalman_test_record.launch	Recording for vacuum_robot_all_camera_kalman_test_play.launch
free_style_all_camera_kalman_test_play.launch	Running around with a marker under all cameras (HINT: runs very slow from HDD)

Further launch files

file	note
start_facility.launch	Controls the power of lights and cameras. Only works with the node_manager_fkie
calibration_record.launch	relates to calibration
hector_mapping.launch	Example for Hector mapping with a AMiRO in the CITRack
image_saver.launch	Example for saving a few images from a camera's topic

Evaluation (depricated)

These are some evaluation files for recording and playing back tracking data.

file	note
ros_bag_play.launch	Messy launch file for playing back various recordings for trackers
ros_bag_record.launch	Messy launch file for recording trackers
tracking_record.launch	Records all tracker outputs
vicon.launch	Vicon launch file which was once used for evaluation of CITrack

Run the tracking

• Start Kameras: roslaunch demo start_cameras.launch
  • Starts cameras without PTP and trigger synchronization by default. Therefore, frames are timestamped with system time (approx. 70 ms too 140 ms offset) and not captured simultaneously.
  • Use trigger_mode_mono:=1 ptp_timestamp_mono:=1 ptp_timestamp_color:=1 to setup PTP and trigger synchronization. Hint: Color camera has no trigger input, but we don't do tracking with it anyways.
• Optional: Run the trigger synchronization CITrigger
• Run the TF tree of the cameras
  • Optional: extrinsic calibration
  • Run the TFs: roslaunch demo tf_camera.launch
  • Load the current calibration (Hint: program should exit immediately): roslaunch calibration calibration_load.launch
• Start tracking: roslaunch demo start_aruco3_tracking.launch (Hint: gui:=0 reduces CPU load)
• Run the fusion: roslaunch demo start_localization.launch
• Run the visualization: roslaunch demo start_viz.launch
• Optional multimaster: Run multimaster if other clients want to receive necessary topics (example for launch file on a client machine: master_sync_cam_publish.launch

Hint: Please look here, If you want to control an AMiRo within the CITrack.