Theory on integration of AR-tag detection | OpenCV | Perception ROS2 Tutorials | [Tutorial 12]

Wish to create interesting robot motion and have control over your world and robots in Webots? Soft_illusion Channel is here with a new tutorial series on the integration of Webots and ROS2. (A channel which aims to help the robotics community).

#ROS2_tutorial #ROS2_project #ROS2_computer_vision

Github link :

Video series:
1. ROS 2, Webots installation and Setup of a workspace in VS Code
2. Different examples in Webots with ROS2
3. Use ROS2 services to interact with robots in Webots
4. Control a robot with ROS2 Publisher
5. Get feedback from different sensors of Robot with ROS2 Subscriber
6. Implement Master and Slave robots project with ROS2
7. Setup Rviz2 (Showing different sensor output )
8. Ways to debug projects with Rostopic echo, Rostopic info, RQT_graph
9. Use advance debugging tools like Rqt console, Rqt gui
10 & 11. Implementation of SLAM toolbox or LaMa library for unknown environment.
12. & 13. Implementation of AR-tag detection and getting exact pose from camera.

Note: Following are the system specifications that will be used in the tutorial series.
Ubuntu 20.04, ROS 2 Foxy, Webots R2020b-rev1

01:05 Project implementation.
03:09 Introduction and application of AR Tag.
05:17 Resources for Aruco
07:34 Project Flow chart.
08:56 Installations of ar marker package.
09:42 Camera in Webots
11:29 In the Next video …
12:07 Question

1. Project implementation.
This section starts with the introduction of the project based on the integration of OpenCV for AR Tag Detection and shows the final output which is expected at the end of Video 13 of this tutorial series. In this project the robot searches for an AR tag, reports its ID and navigates towards the AR tag.

2. Introduction and application of AR Tag.
With an interesting glimpse of the project seen above, here we understand the basics of an AR Tag, it’s design and its applications before getting into the project implementation. We also discuss the different ways in which an AR tag can be placed in the environment.

3. Resources for Aruco
In this section, we take a dig into the higher level pipeline to generate different types of AR tags. We discuss the steps involved in detection of AR tags along with camera and distortion matrix. We also see how to get the pose of an AR tag from the camera installed on the robot. Finally we go through the basic skeleton of code which we incorporate in our project.

4. Project Flow chart.
Here we discuss the flowchart with the aim to make the viewers understand how the code is orchestrated in the project. This starts with enabling sensors and wheels in order to convert cmd_vel to different wheel velocities. We also elaborate and discuss the different conditions /scenarios that can occur when the robot sees a tag or doesn't see a tag.

5. Installations of ar marker package.
In this section we install the AR tag detection package using the following command:
python3 -m pip install opencv-contrib-python
This enables viewers to install the package and use many other functionalities of opencv.

4. Camera in Webots
By now the viewer must have gained a good knowledge of the theoretical parts of the project. In this section we tweak our custom robot and add a camera to it. Next we discuss the different parameters available in webots for cameras. We suggest the audience to have a look at different videos which are specifically made to teach about cameras.

5. In the Next video …
We summarize this video with a highlight on the important parts of the project that will be covered in Video 13. This gives a good understanding to the viewers to gain complete autonomy in order to implement this project.

Introductory Webots tutorial playlist:

Comment if you have any doubts on the above video.
Do Share so that I can continue to make many more videos with the same boost. :)
Happy Coding. :)

[SetoFPV]

sorry for noob question, how to add aruco marker in webots, any tutorial about it?
thanks for your reply