quickstart_guide.md

ISMR 2024 demo quickstart guide

Setup

Install usb-cam package

sudo apt-get install ros-noetic-usb-cam

Then in your catkin workspace add the following packages

Clone ar_tag_alvar package

git clone https://github.com/ros-perception/ar_track_alvar
cd ar_track_alvar
git checkout noetic-devel

Clone ar_tag_tool_box package

git clone https://github.com/atomoclast/ar_tag_toolbox

Finally compile your catkin workspace with

catkin build

Camera calibration

Next step is to calibratate your USB camera using the ros camera_calibration package.

TODO.

Running the system

1. Run the usb_cam package

roslaunch ar_tag_toolbox usb_cam.launch

2. Run node to overlay coordinate frames in image stream.

rosrun ismr2024_demo_needle_grasping show_poses_in_board.py