ROS Apriltag Detector

This repository holds the following ROS2 packages for detecting and displaying Apriltags:

• apriltag_detector: base class definitions for plugable detector libraries, launch files for detecting and displaying apriltags. This is the package typically used.

The following packages are accessed mostly through the above apriltag_detector package.

• apriltag_draw: components for drawing detected Apriltags onto images.
• apriltag_umich: plugable library and component for detecting Apriltags using the UMich implementation.
• apriltag_mit: plugable library and component for detecting Apriltags using the MIT implementation.

The software in this repository does strictly perception, no camera pose estimation! It is typically used when no camera calibration is available, or is not needed. If you want perception and camera pose together, use this package, which uses the same tag message format.

Installation

From packages

apt install ros-${ROS_DISTRO}-apriltag-detector ros-${ROS_DISTRO}-apriltag-draw \
            ros-${ROS_DISTRO}-apriltag-detector-umich ros-${ROS_DISTRO}-apriltag-detector-mit

From source

The build instructions follow the standard procedure for ROS2. Set the following shell variables:

repo=apriltag_detector
url=https://github.com/ros-misc-utilities/${repo}.git

and follow the ROS2 build instructions here

Make sure to source your workspace's install/setup.bash afterwards.

License

This software is issued under the Apache License Version 2.0.