gazebo_models

ar_tag models for gazebo

script allowing to generate gazebo models for all the AR tags in the images folder.

How to use

$ ./generate_markers_model.py -h
usage: generate gazebo models for AR tags

optional arguments:
  -h, --help            show this help message and exit
  -i IMAGES_DIR, --images-dir IMAGES_DIR
                        directory where the marker images are located
                        (default: $HOME/gazebo_models/ar_tags/images)
  -g GAZEBODIR, --gazebodir GAZEBODIR
                        Gazebo models directory (default:
                        $HOME/.gazebo/models)
  -s SIZE, --size SIZE  marker size in mm (default: 500)
  -v, --verbose         verbose mode (default: False)
  -w WHITE_CONTOUR_SIZE_MM, --white-contour-size-mm WHITE_CONTOUR_SIZE_MM
                        Add white contour around images, default to no contour
                        (default: 0)

./generate_markers_model.py -i IMAGE_DIRECTORY -g GAZEBO_MODELS_DIRECTORY -s SIZE_IN_MILLIMETER -w CONTOUR_SIZE_IN_MM

For example the following command will generate markers of 1m side + 0.5m white contour on each side, resulting in a 2mx2m gazebo model.

./generate_markers_model.py -i IMAGE_DIRECTORY -s 1000 -w 500

Limitations

Assumes png images, dimensions 170*170px

blender file provided to test on other image size

TODO

Support other image formats