adding launch files and scripts

aruco_marker_finder.launch

+<launch>
+ 
+<arg name="markerId" default="701"/>
+<arg name="markerSize" default="0.05"/> <!-- in meter -->
+<arg name="eye" default="left"/>
+<arg name="marker_frame" default="marker_frame"/>
+<arg name="ref_frame" default=""/> <!-- leave empty and the pose will be published wrt param parent_name -->
+<arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->
+ 
+ 
+<node pkg="aruco_ros" type="single" name="aruco_single">
+<remap from="/camera_info" to="/usb_cam/camera_info" />
+<remap from="/image" to="/usb_cam/image_raw" />
+<param name="image_is_rectified" value="True"/>
+<param name="marker_size" value="$(arg markerSize)"/>
+<param name="marker_id" value="$(arg markerId)"/>
+<param name="reference_frame" value="$(arg ref_frame)"/> <!-- frame in which the marker pose will be refered -->
+<param name="camera_frame" value="base_link"/>
+<param name="marker_frame" value="$(arg marker_frame)" />
+<param name="corner_refinement" value="$(arg corner_refinement)" />
+</node>
+ 
+</launch>

aruco_markers_detect.launch

+<!-- Run the aruco_detect node -->
+<launch>
+  <!-- namespace for camera input -->
+  <arg name="camera" default="/usb_cam"/>
+  <arg name="image" default="image"/>
+  <arg name="transport" default="raw"/>
+  <arg name="fiducial_len" default="0.14"/>
+  <arg name="dictionary" default="7"/>
+  <arg name="do_pose_estimation" default="true"/>
+
+  <node pkg="aruco_detect" name="aruco_detect"
+    type="aruco_detect" output="screen" respawn="false">
+    <param name="image_transport" value="$(arg transport)"/>
+    <param name="publish_images" value="true" />
+    <param name="fiducial_len" value="$(arg fiducial_len)"/>
+    <param name="dictionary" value="$(arg dictionary)"/>
+    <param name="do_pose_estimation" value="$(arg do_pose_estimation)"/>
+    <remap from="/camera" to="/usb_cam/image_raw" />
+    <remap from="/camera_info" to="$(arg camera)/camera_info"/>
+  </node>
+</launch>

aruco_sensing.sh

+#!/bin/bash
+
+cd $HOME/catkin_ws 
+xterm -hold -e "roscore" &
+xterm -hold -e "roslaunch usb_cam_stream_publisher.launch" &
+sleep 5
+xterm -hold -e "roslaunch aruco_markers_detect.launch" &
+sleep 3
+xterm -hold -e "rosrun image_view image_view image:=/fiducial_images" &
+xterm -hold -e "rostopic echo /fiducial_transforms" &
+sleep 2
+xterm -hold -e "rosrun topic_tools throttle messages /fiducial_transforms 5.0" &
+xterm -hold -e "rostopic hz fiducial_transforms_throttle"
+
+cd $HOME/
+
+exit 0
+
+<<COMMENT
+    For the throttle frequencies:
+    Issues: throttle rates lower than expected(default rate = 30Hz)
+	Expected rate [Hz]:     Real rate [Hz]:
+	40			~30
+	30			19.5~20
+	20			~15
+	15			~10.5
+	10			~8.4
+	8			~7.5
+	4			~3.75
+	1			0.98
+
+COMMENT

cal.yml

+image_width: 640
+image_height: 480
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [654.029002, 0, 318.310629, 0, 651.6204770000001, 210.721894, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.006783, -0.178923, 0.000926, 0.007013999999999999, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [645.730774, 0, 321.784936, 0, 0, 649.168945, 210.480637, 0, 0, 0, 1, 0]

robot_controls/odometry_record.py

@@ -10,8 +10,8 @@ def ang_vel(lvel, rvel):
     if ((lvel - rvel) != 0):
         v1 = float(lvel)
         v2 = float(rvel)
-        r1 = (v2 * .35)/(v2-v1)
-        w  = v2/r1
+        r1 = (v1 * .35)/(v2-v1)
+        w  = v1/r1
     return w
 
 def callback(data):

usb_cam_stream_publisher.launch

+<!--
+Example of run:
+roslaunch usb_cam_stream_publisher.launch video_device:=/dev/video0 image_width:=640 image_height:=480
+-->
+
+<launch>
+<arg name="video_device" default="/dev/video1" />
+<arg name="image_width" default="640" />
+<arg name="image_height" default="480" />
+<arg name="image_topic_name" default="/usb_cam/image_raw" />
+<arg name="camera_info_topic_name" default="/usb_cam/camera_info" />
+
+
+<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+<param name="video_device" value="$(arg video_device)" />
+<param name="image_width" value="$(arg image_width)" />
+<param name="image_height" value="$(arg image_height)"/>
+<param name="pixel_format" value="mjpeg" />
+<param name="io_method" value="mmap"/>
+
+<!-- update these line accroding to your setting, here are some examples:-->
+<!-- <param name="camera_info_url" value="package://your_cameras/info/camera.yaml"/> -->
+<param name="camera_info_url" value="file:///home/ucla/catkin_ws/cal.yml"/> <!-- <param name="camera_info_url" value="file://${ROS_HOME}/camera_info/head_camera.yaml"/>  -->
+<remap from="/usb_cam/camera_info" to="$(arg camera_info_topic_name)"/>
+<remap from="/usb_cam/image_raw" to="$(arg image_topic_name)"/>
+</node>
+</launch>