How to add aruco marker as a marker

[jide07]

I am working with the easy_handeye, from the launch file I do not understand what is meant by tracking_marker_frame

    <!-- fill in the following parameters according to your tracking system's published tf frames -->
    <arg name="tracking_base_frame" value="/optical_origin"/>
    <arg name="tracking_marker_frame" value="/optical_target"/>

I have connected the image, but not sure what should be the marker and how to add it

[marcoesposito1988]

Hi @jide07,

those are the tf frames of the tracking system (e.g. camera) and of the marker.

The relative position of the tracking system and tracking marker should be published in tf by the marker tracking software, which computes the position based on the content of the image grabbed by the camera and the camera intrinsic calibration.

You can use easy_aruco to do this, as shown in some example launch files.