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--- tutorials:ar_ros [2019/09/10 02:38] – Add usb_cam info dgarcia
+++ tutorials:ar_ros [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
-==== Using AR tracking in ROS ====
+====== Using AR tracking in ROS ======
 First you will need ''ros-melodic-full'' installed in your computer.
@@ Line 7: / Line 7: @@
   sudo apt install ros-melodic-ar-track-alvar usb-cam
-=== usb cameras ===
+===== usb cameras =====
 The first thing that we need to try is to get images from your computer and send them through ROS nodes. For this we can use the test provided by usb_cam.
-  roslaunch ros_cam ros_cam-test.launch
+  roslaunch usb_cam usb_cam-test.launch
 if you have multiple video devices you can choose which one to use with the ''video_device'' option. THe default value is ''/dev/video0''. Here you can find an example of how to run the test for another video device:
-  roslaunch ros_cam ros_cam-test.launch video_device:=/dev/video1
+  roslaunch usb_cam usb_cam-test.launch video_device:=/dev/video1
+For more information about usb_cam node options visit [[https://wiki.ros.org/usb_cam| This ROS wiki page]]
+===== Generating our own AR tags =====
+The AR tags are black and white images with a certain pattern. The computer can use this tags to know from a 2D image the 3D position and orientation of the tag (within reasonable limits).
+To create your own tags:
+  cd ~/Pictures
+  rosrun ar_track_alvar createMarker
+If you do not want your markers inside your Pictures directory, ''cd'' to the required dir first.