# aruco_mapping
http://wiki.ros.org/aruco_mapping

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works on ROS kinetic
-- that is: ubuntu 16.04
(ref: [distro](http://wiki.ros.org/Distributions), [REP3](https://www.ros.org/reps/rep-0003.html))

~~(havn't tried ROS lunar)~~ ROS Lunar has passed its EOL
(failed on ROS melodic: `/opt/ros/melodic/aruco/include` diff from `/opt/ros/kinetic/aruco/include`)

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## install prerequisites

(using ubuntu mate 16.04.2):
because ubuntu mate has releases for raspberry pi
https://releases.ubuntu-mate.org/archived/16.04/armhf/

apt:
git
build-essential
ros-kinetic-desktop-full
ros-kinetic-usb-cam
ros-kinetic-aruco
~~(or ros-kinetic-aruco-ros ?)~~ `aruco_ros` includes `aruco`

source /opt/ros/kinetic/setup.bash
(add to bashrc)

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## download & build
http://wiki.ros.org/aruco_mapping

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/SmartRoboticSystems/aruco_mapping.git

cd ~/catkin_ws
catkin_make

source ~/catkin_ws/devel/setup.bash
(add to bashrc)

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## run mapping
(need to have correct calibration file first)

roslaunch aruco_mapping aruco_mapping.launch

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## run calibration

ref: http://wiki.ros.org/camera_calibration

T.B.A.