The goal of this lab is
to get you started with the OpenCV-ROS bridge.
to understand and use the rosrecording/rosplay.
to implement the KF for tracking.
Before you start this lab, you should know the concepts in the LAB2 .
Download this bagfile.
Try to play back the recorded data with rosbag play -l your_bagfile.bag.
Try to see the published topics with rostopic list.
Get the rosbag info with rosbag info.
Get the tagfollower package from the bottom of this page.
Move this package in the ~/catkin_ws/src and build the content of the package.
Open the follower_Original.cpp file and try to understand the followings:
What kind of data sources are used (subscribed) in this program?
How many states are used in the Kalman Filter?
What is the transition model used for the filter?
What happens, when no tag is detected on the image?
Try to play around with the tuning parameters of the filter (co-variances), and check the results.
Do not forget to start up the roscore
If your packages are not found, please try to source devel/setup.bash