虚拟环境下ros手眼标定无法aruco_single/result显示二维码的坐标系

i

1、安装了aruco_ros包
修改single.launch文件

 <launch>

    <arg name="markerId"        default="36"/>
    <arg name="markerSize"      default="0.1"/>    <!-- in m -->
    <arg name="eye"             default="left"/>
    <arg name="marker_frame"    default="aruco_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="/camera/color/camera_info" />
        <remap from="/image" to="/camera/color/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="$(arg ref_frame)"/>   <!-- frame in which the marker pose will be refered -->
        <param name="camera_frame"       value="camera_link"/>
        <param name="marker_frame"       value="$(arg marker_frame)" />
        <param name="corner_refinement"  value="$(arg corner_refinement)" />
    </node>

</launch>

（是不是markerId和markerSize有问题？我是根据这个网址）生成的ID设置的。
2、安装了moveit_calibrition手眼标定包
3、运行：roslaunch xxxmoveit_config demo_gazebo.launch，rviz和gazebo可以正常打开并运行

gazebo中插入一个带有aruco码的模型

4、运行：roslaunch aruco_ros demo.launch
rosrun image_view image_view image:=/aruco_single/result

画面没有显示码的坐标系？

i

@767015514 解决了，aruco码应该选用original aruco