This repository provides a cube for Gazebo. An ArUco marker is attached to each side of the cube.
The current parameters are:
- marker width is 40% of the cube width
- ArUco marker IDs are 0,1,..,5
- Cube size is 1x1x1m
Download the repository and add this directory to the GAZEBO_MODEL_PATH environment variable.
Open Gazebo and navigate to the "Insert" tab. There, you will find the "Box with ArUco markers" model.
You can create the texture for the cube yourself. See the script "src/create_marker_tile_image.py" for more details. The Blender model is also added to the repo (aruco_box/aruco_marker.blend).
- add a gazebo world file
- add camera sensor
- integrate ArUco marker detection, e.g. https://wiki.ros.org/aruco_detect