mzahana/apriltag_tools_ros

ROS 2 package is designed to provide tools and utilities for working with AprilTags in ROS-based robotics applications

Apriltag Tools ROS

ROS 2 package is designed to provide tools and utilities for working with AprilTags in ROS-based robotics applications.

Installation

git clone https://github.com/khaledgabr77/apriltag_tools_ros.git

AprilTag Detection to Pose Conversion

This package now includes functionality to convert AprilTag detections from the isaac_ros_apriltag package to pose arrays. This conversion enables users to obtain pose information directly from AprilTag detections, which can be useful for localization, mapping, and navigation tasks in robotics applications.

How to Use

1. Launch the Conversion Node: Use the provided launch file to start the conversion node.

   ros2 launch apriltag_tools_ros apriltag_detection_to_pose.launch.py
   

2. Subscribe to Pose Array: Subscribe to the apriltag_pose_array topic to receive pose information corresponding to detected AprilTags.

Conversion Logic

The conversion node (apriltag_detection_to_pose.py) subscribes to the AprilTag detections topic published by the isaac_ros_apriltag package. Upon receiving detection messages, it converts each detection to a pose message and publishes them as a pose array.