A collection of apriltag libraries and a ros node.
a c++ library from http://people.csail.mit.edu/kaess/apriltags/
a c library from http://april.eecs.umich.edu/wiki/index.php/AprilTags
To decide which detector to use, have a look at the performance comparison of UMich vs MIT detectors.
a ros node for detecting apriltag.
Detect apriltags in image topic ~image
roslaunch apriltag_ros apriltag_detector_node.launch camera:=camera
Detect apriltags in images
rosrun apriltag_ros apriltag_detect image1.png image2.png -t 0 -b 2
apriltag ros messages