ar_track_alvar

See ROS wiki for the users document.

To run the tracking using a RealSense camera, we need:

Usage Instructions

• Install the RealSense ROS packages for your ROS distribution. For ROS Noetic, these are:
  • ros-noetic-realsense2-camera
  • ros-noetic-rgbd-launch
  • ros-noetic-realsense2-description
  • librealsense
• Connect Intel RealSense camera. Verify that you're able to see depth & RGB camera outputs using the realsense-viewer program.
• Attach printed AR tags (of known dimensions) to the object you want to detect.
• Clone this package to a ROS workspace
• Launch realsense camera node (change device_type value to suit your camera):

roslaunch realsense2_camera rs_rgbd.launch device_type:=d435 enable_depth:=true

• Run this package:

roslaunch ar_track_alvar realsense_depth_track_indiv.launch

• Visualize marker using Rviz: Launch rviz > Add frame > Add point cloud > Tf
• Verify published pose by running rostopic echo /ar_pose_marker