Aruco Marker Detection

[haashimrehan]

Aruco marker detection setup and usage notes:

[haashimrehan]

Since aruco detection uses opencv, we face similar build issues on the TX2 from when we tried building realsense packages from source. Since this is only a problem for the TX2 I made an install script which can be called by navigating to the aruco_mark package, roscd aruco_mark/setup and running sudo ./setupTX2.sh.

If the script is accidentally run on a computer other than the TX2 or you would like to undo the changes run: sudo ./undoSetup.sh

[haashimrehan]

Initial testing results:

• able to detect a 12cm Aruco marker (id:35) up to 5 meters away in an indoor environment using the D435 on the TX2.
• rqt_reconfigure can be used to adjust camera parameters as needed, (exposure, contrast, etc).
• aruco_detect also exposes some threshold parameters, however its hard to tune them without a debug image published.

[emcauliffe]

merged in with #36