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--- documentation:vision:aruco_marker_detection [2023/01/23 20:39] – Correct name, added some formatting and added information how to compute the quaternion with help of libraries. marcusn
+++ documentation:vision:aruco_marker_detection [2023/01/30 08:29] (current) – marcusn
@@ Line 43: / Line 43: @@
 ==== Detection with SkiROS ====
+To detect //aruco// makers with a skill and implement a skill in [[https://github.com/RVMI/skiros2/wiki|SkiROS]] one could use the wiki to get a better understanding of how todo or use the example skill "camera_skill" as an example which uses the implmented //aruco// marker deteciton in the above section for picking up an object.
+There are a couple of steps to create a skill in **SkiROS**.
+  - [[https://github.com/RVMI/skiros2/wiki/Tutorial-3:-Create-a-skill|Create a skill]]. Checkout the section right above part 2 as well all of part 2.
+		- Create a //SkillDescription//
+			- addParam needed for the skill
+		- Create a //PrimitiveBase//
+			- Handle the different situation like, [onPreempt, onInit, onStart, execute].
+		- Create a //SkillBase// [OPTIONAL] Required if wanted to create skills executed in order.
+			- [[https://github.com/RVMI/skiros2/wiki/Tutorial-3:-Create-a-skill#part-3-create-a-simple-skill|See here]].
+  - Add skill to simulation in e.g. [[https://git.cs.lth.se/robotlab/heron/heron_launch/-/blob/camera_skill/launch/simulation.launch|launch file]] for //Heron//.
+  - Add skill code to into one of the skill repositories:
+		- [[https://git.cs.lth.se/robotlab/rvmi/skills_sandbox|General skill]].
+		- [[https://git.cs.lth.se/robotlab/rvmi/vision_skills|Vision skill]].
+  - Add possible new ontologies to the [[https://git.cs.lth.se/robotlab/heron/heron_launch/-/blob/master/owl/scenes/heron.turtle|ontology]] for //Heron//.