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Newly supported apriltag_ros package

The April Robotics Lab's Github repository has a supported apriltag_ros package. The ROS Wiki documentation is here.

Only released in EOL distros:  

april: april_msgs | april_tags_node | april_test | april_tk | lcm

Package Summary

ROS Wrapper for running the APRIL Tag detection system

Nodes

april.ros.TagPublisher

ROS Wrapper for publishing tags using the April Tag Detection Library

Subscribed Topics

image_raw (sensor_msgs/Image) camera_info (sensor_msgs/CameraInfo)

Published Topics

tags (april_msgs/TagPoseArray) /visualization_marker_array (visualization_msgs/MarkerArray) /tf (tf/tfMessage)

Parameters

~tag_family (string, default: "april.tag.Tag36h11") ~tag_size (double, default: 0.095) ~use_camera_info (bool, default: true) ~focal_length_x (double, default: 485.6) ~focal_length_y (double, default: ~focal_length_x) ~publish_visualization (bool, default: true) ~tag_vis_magnification (double, default: 1.0) ~broadcast_tf (bool, default: true) ~seg_sigma (double, default: 0.8) ~sigma (double, default: 0.0) ~min_mag (double, default: 0.004) ~max_edge_cost (double, default: 0.5236) ~mag_thresh (double, default: 1200.0) ~theta_thresh (double, default: 100.0) ~error_bits (int, default: 1) ~weight_scale (int, default: 100) ~seg_decimate (bool, default: false) ~debug (bool, default: false)

Usage

Running the node directly (with default parameters)

rosrun april_tags_node execute

Using roslaunch

roslaunch april_tags_node april_tags_node.launch

Running rviz

rosrun rviz rviz -d `rospack find april_tags_node`/config/rviz.vcg

roslaunch april_tags_node rviz.launch

Report a Bug

This package just serves as a wrapper for the APRIL toolkit. If you detect a bug in the wrapper, please report it on the repository page(http://code.google.com/p/utexas-ros-pkg/issues/list). If you find a bug in the APRIL toolkit, please contact the original developers.


2020-01-18 12:28