apriltag_pose_ros

This is a ROS wrapper for publishing Apriltag with Jetson nano and RPI camera V2 through CSI
It is truely easy to use. On jetson nano with ROS. A constant velocity EKF filter is introducted to enhance the performance.

Complie Instruciton

catkin_make

Dependency

• Ubuntu 16.04 + ROS Kinetic
• AprilTag

  AprilTag
  Follow the instruction to do

  git clone https://github.com/AprilRobotics/apriltag  
  cmake .  
  sudo make install  
  

• ROS Please follow the official instruction to install ros-kinetic

  http://wiki.ros.org/kinetic/Installation/Ubuntu

• Eigen3

   sudo apt install libeigen3-dev
  

• OpenCV

  sudo apt install libopencv-dev
  

Function Description

Files

• cmake_modules Find the position of Eigen3
• CMakeLists.txt Cmake file
• CalibrationResults Internal and external parameters of the camera through Kalibr
• filter.cc Detail implmentation of constant velocity filter
• filter.h Declaration of filter
• filter_pose Subscribe the information from apriltag detect as measurements to filting
• opencv_apriltag.cc Detection and pose estimation of Apriltag
• opencv_emulate.cc For simulation

21 Dec 2019

To avoid some out of view situation , a constant velocity kalman filter has been added to the package. It now can output 100Hz pose estimation of apriltag and able to compensate some undesirable situation.