Extended description

AR_POSE_DEMO is a package which illustrates the use of the ar_pose package in combination with the ar_pose_ekf package. It can track markers from the AR toolkit with an unlimited number of camera's and output an estimate based on the covariance values of each of the individual estimations.

Usage

ar_pose_demo requires you to have the CCNY repository and the KUL repository checked out.

The launch file uses prosilica GC655C camera's, you can change this to whatever camera package you prefer to use.

roscd ar_pose_demo
roslaunch launch/ar_pose_kb_double.launch

After this you can start the pose_ekf package.

The ar_pose_kb_double_distri launch file illustrates the same packages but distributed over different PC's.