Please check the aruco detection README
Visualization Script - show_all_frames.py
- arguments
| argument | argument meaning | default value |
|---|---|---|
| -a | PSM name corresponding to ROS topics | PSM2 |
| -f | hand-eye calibration JSON file using Open CV coordinate system | config/PSM2-registration-open-cv.json |
| -c | ROS namespace for the camera | /depstech |
- modify the default values:
You can set your own default values at line #306-#333
Needle Grasping Script - grasp_needle.py
- arguments
| argument | argument meaning | default value |
|---|---|---|
| -a | PSM name corresponding to ROS topics | PSM2 |
| -t | Target Aruco Marker Id | 1 |
| -c | ROS namespace for the camera | /depstech |
- modify the default values:
You can set your own default values at line #287-#309
- hard-coded transformations
(1) desired position transformation offset with respect to the marker, unit: m or rad
line #240
(2) transformation offset when grasping the needle, unit: m or rad
line #344